Abstract: This paper presents the backstepping nonlinear control applied to induction motor with on-line adaptation of rotor resistance using a backstepping observer type. This type of control proposed an analysis based primarily on the stability of the system from the Lyapunov theory. This approach takes into account the nonlinearity of the system when designing the control law. The effectiven...

In this paper, we present a new approach of designing adaptive neural network controllers for uncertain systems containing nonsmooth nonlinearities in the actuator device. The controllers are designed by introducing certain well-defined sign functions and neural network approximations as well as by using the backstepping technique. The salient feature of the approach is that no knowledge is ass...

This paper addresses the robust learning control problem for a class of nonlinear systems with structured periodic and unstructured aperiodic uncertainties. A recursive technique is proposed which extends the currently popular backstepping idea to the robust repetitive learning control systems. An learning evaluation function instead of a Lyapunov function is formulated as a guideline for deriv...

We propose a novel recursive design scheme of state observer for lower triangular nonlinear systems. The design begins from the bottom dynamics and propagates to upper dynamics recalling the backstepping scheme for nonlinear control. The proposed class of systems is fairly general since it includes non-uniformly observable or detectable multi-output systems. The error convergence to zero is pro...

A novel approach to solve a stabilization problem of an active suspension system using a quarter car model is presented. We apply a combination of our results for the framework of the approximate based direct discrete-time design and the Euler based discrete-time backstepping technique. This stabilization problem is very interesting since utilizing a simple quadratic Lyapunov function brings th...

The problem of controlling multiphase synchronous buck power converters is considered. The aim is to regulate the output voltage of the converter and to ensure an adequate current sharing between its different channels. The control law is designed from the large-signal bilinear model (of the whole multichannels converter) using the backstepping technique. The obtained regulator is shown to meet...

This paper is devoted to adaptive tracking control for a class of uncertain MIMO switched nonlinear systems. A novel systematic recursive algorithm is proposed to design adaptive update laws and an adaptive controller by multiple Lyapunov functions method combining with backstepping recursive technique. And then, by means of stability theory about the switched systems and the average dwell time...

For a fixed-wing Unmanned Aerial Vehicle (UAV) equipped with a gimbaled camera, we consider the problem of tracking a visual target while simultaneously bringing the UAV to orbit on a circular trajectory centered above the target. To achieve this kind of loitering behavior, we propose a feedback control method that is inspired by image-based visual servoing and makes use of a backstepping techn...

This paper deals with the problem of controlling doubly-fed induction machines (DFIM). A nonlinear model of the whole controlled system, including the DFIM and the associated AC/DC rectifier and DC/AC inverter, is developed within the Park coordinates. A multi-loop nonlinear controller is developed, using the backstepping design technique. The controller is formally shown to meet its objectives...

This paper presents a discrete-time decentralized control scheme for trajectory tracking of a two degrees of freedom (DOF) robot manipulator. A high order neural network (HONN) is used to approximate a decentralized control law designed by the backstepping technique as applied to a block strict feedback form (BSFF). The neural network learning is performed on-line by Kalman filtering. The contr...