Abstract— In this paper a robust chattering free backstepping sliding mode controller is developed for the attitude stabilization and trajectory tracking control of quadrotor helicopter with external disturbances. The control scheme is developed based on backstepping technique and a sliding surface is introduced in the final stage of the algorithm. To attenuate the chattering problem caused by ...

A robust adaptive control approach is proposed for underactuated surface ship linear path-tracking control system based on the backstepping control method and Lyapunov stability theory. By employing T-S fuzzy system to approximate nonlinear uncertainties of the control system, the proposed scheme is developed by combining “dynamic surface control” (DSC) and “minimal learning parameter” (MLP) te...

This paper investigates the attitude tracking problem for rigid spacecraft. An adaptive backstepping sliding mode control law is proposed to solve this problem in the presence of inertia uncertainties and external disturbances. The control scheme is developed by combining sliding mode control with adaptive backstepping technique to achieve fast and accurate tracking responses. The proposed cont...

This paper presents the modified integrator which we can use in the controlling scheme of an induction motor (IM). The modification tends to some advancement in direct torque control of induction motor. The undesirable variations which occur in the form of offset, gain error, etc can be eliminate by means of the involvement of the new integrator in the direct torque and flux control (DTFC) meth...

The aim of this paper is to present one type of pole assignment controller that is based on the analysis of optimal settings for the double integrator system. It takes into account parasitic delays in the control structure and constraints imposed on the control signal. The whole design is illustrated on two examples. Key-Words: Pole assignment control, constraints, saturation, double integrator...

In this paper, we present a new contribution for the control of Wind-turbine energy systems, a nonlinear robust control of active and reactive power by the use of the Adaptative Backstepping approach based in double-fed asynchronous generator (DFIG-Generator). Initially, a control strategy of the MPPT for extraction of maximum power of the turbine generator is presented. Thereafter, a new contr...

This paper proposes an improved learning algorithm of analog compound orthogonal networks and a novel tracking control approach for nonholonomic mobile robots by integrating the neural network into the backstepping technique. The adaptive control is derived from continuously tuning parameters using the analog neural network in the backstepping control law. The proposed control approach for the ...

Acknowledgments My special thank goes to my advisor Dr. Marcio S. de Queiroz. I thank him for all his continued support in all stages of this project. I would also like to extend my sincere gratitude to my committee members Dr. Kemin Zhou and Dr. Yitshak Ram for their valuable support and guidance. Abstract A solution to the problem of AMB control with reduced electrical power losses will be pr...

This dissertation addresses the modeling, identification, and control of an automated planing vessel. To provide motion models for trajectory generation and to enable model-based control design for trajectory tracking, several experimentally identified models are compared over a wide range of speed and planing conditions for the Virginia Tech Ribcraft Unmanned Surface Vehicle. The modeling and ...

Compared with traditional aircraft, the near space hypersonic unmanned aerial vehicle control system design must deal with the extra prominent dynamics characters, which are differ from the traditional aircrafts control system design. A new robust adaptive control design method is proposed for one hypersonic unmanned aerial vehicle (HSUAV) uncertain MIMO nonaffine block control system by using ...