Article history: Received: 24.01.2014. Received in revised form: 05.03.2014. Accepted: 10.03.2014. There is usually the speed jump problem existing in conventional back-stepping tracking control for four-wheel drive omni-directional mobile robots, a trajectory tracking controller based on adaptive neural dynamics model is proposed. Because of the smoothness and boundedness of the output from th...

Abstract—Diabetes is a growing health problem in worldwide. Especially, the patients with Type 1 diabetes need strict glycemic control because they have deficiency of insulin production. This paper attempts to control blood glucose based on body mathematical body model. The Bergman minimal mathematical model is used to develop the nonlinear controller. A novel back-stepping based sliding mode c...

This paper studies output feedback control of pure-feedback systems with immeasurable states and completely non-affine property. Since availability of all the states is usually impossible in the actual process, we assume that just the system output is measurable and the system states are not available. First, to estimate the immeasurable states a state observer is designed. Relatively fewer res...

Abstract — In this paper we design a new type of hydraulic Energy-Regenerative vibration active suspension system. The system has continuous change of damping force from zero to the maximum value and high energy conversion efficiency. Also we designed and simulated an adaptive back-stepping sliding mode variable structure controller. The simulation results show the designed controller has good ...

This paper recalls a non-linear constructive method, based on controlling cascades of conic-systems as it applies to the control of quad-rotor aircraft. Such a method relied on the physical model of the system to construct highperformance, modest sampling period (Ts = .02 s) and lowcomplexity digital-controllers. The control of fixed-wing aircraft, however is not nearly a straight forward task ...

In this note we consider the question of whether an adaptive controller can converge to a non-adaptive stabilizing controller. Speciically, we show for a class of back-stepping controllers with adaptive tuning functions that the set of initial conditions in state and estimation parameter for which the estimation parameter converges to a parameter which produces a destabilizing controller can ha...

This paper presents an attitude control algorithm for a Reusable Launch Vehicle (RLV) with a low lift/drag ratio (L/D < 0.5), in the presence of external disturbances, model uncertainties, control output constraints and the thruster model. The main novelty of proposed control strategy is a new combination of the attitude control methods included backstepping, dynamic inversion and adaptive cont...

Back-stepping design method is widely used in high-performance tracking control tasks As known to all, the controller based on back-stepping will become complex as model order increases, which so called “explosion of terms” problem. In this paper, a differentiator (TD) proposed handle Instead calculating derivatives intermediate variables through tedious analytical expressions, for method, embe...