This paper considers the stabilization problem of the Acrobot, a widely studied benchmark nonlinear under-actuated mechanical system. For such systems the design of control Law becomes a challenging task owing to complex internal dynamics and lack of feedback linearizibility. These result in need of closed form solutions for highly nonlinear equations or hybrid/switching controllers. A novel no...

Dynamic surface control (DSC) method uses high gain filters to avoid the ”explosion of complexity” issue inherent in backstepping based controller designs. As a result, the closed loop system and filter dynamics possess time scale separation between them. This paper attempts to design a novel disturbance observer based dynamic surface controller using contraction framework. In doing so the stea...

In this Letter backstepping design is proposed for controlling chaotic systems. The tool consists in a recursive procedure that combines the choice of a Lyapunov function with the design of feedback control. The advantages of the method are the following: (i) it represents a systematic procedure for controlling chaotic or hyperchaotic dynamics; (ii) it can be applied to several circuits and sys...

In this paper, we present a global adaptive output feedback control scheme for a class of 3rd-order uncertain nonlinear systems to which adaptive observer backstepping method may not be applicable directly. In contrast to the existing output feedback form, the allowed extended output feedback structure includes quadratic and multiplicative dependency of unmeasured states. Our novel design techn...

This paper presents a robust backstepping design for motion control in the presence of model uncertainties and exogenous disturbances. The main difficulty in dealing with motion control is to reduce the effect of friction, which exists in the moving mechanism and induces nonlinear behavior. In this study, the friction dynamic is considered as the external disturbance, and the proposed backstepp...

The aim of this paper is to apply a resent implicit fault tolerant control (FTC) technique based backstepping to induction motor (IM). Mathematical models of the motor, the disturbances as well as the faults signals have been developed. Using these models, the dynamic behavior of motor is studied. A backstepping control is then synthesized and applied to the system. Based on the simulation resu...

This paper presents a tracking algorithm for the adaptive control of nonlinear dynamic systems represented in Strict Feedback Form with parametric uncertainty. The construction of the stabilizing algorithm is given using Passivity-based arguments that result in an Adaptive Passivity-Based Controller (APBC). This paper also shows a comparison with a controller designed via Adaptive Backstepping ...

This paper presents an adaptive fuzzy backstepping control method that incorporates the dynamic equilibrium state (DES) theory to carry out path tracking for underactuated ships in presence of parameter variations and external disturbances induced by wind, wave and current. First, the optimal DES reference trajectories are designed for the sway displacement and the yaw angle. Then, by combining...

in this paper, the design and implementation of adaptive speed controller for a sensorless synchronous reluctance motor (synrm) drive system is proposed. a combination of well-known adaptive input-output feedback linearization (aiofl) and adaptive backstepping (abs) techniques are used for speed tracking control of synrm. the aiofl controller is capable of estimating motor two-axis inductances ...

Backstepping and a finite-time stability result of Garrard (Garrard, 1972) are combined to provide a recursive design algorithm for finite-time stability of a class of nonlinear systems. Copyright c ©2005 IFAC