We present two redesigns to robustify backstepping control laws against dynamic uncertainties at the input of the plant. In the first redesign we construct a passivating control law from a CLF obtained by backstepping. The second redesign is a simplification of the first, useful for high order systems. We also compare the stability margins of the two main versions of backstepping: cancelation a...

An adaptive fuzzy control method is developed to control chaos in the permanent magnet synchronous motor drive system via backstepping. Fuzzy logic systems are used to approximate unknown nonlinearities, and an adaptive backstepping technique is employed to construct controllers. The proposed controller can suppress the chaos of PMSM and track the reference signal successfully. The simulation r...

In this paper, an adaptive backstepping control system with a fuzzy integral action is proposed to control the mover position of a linear induction motor (LIM) drive. First, the indirect field oriented control LIM is derived. Then, an integral backstepping design for indirect field oriented control of LIM is proposed to compensate the uncertainties which occur in the control. Finally, the adapt...

In this paper, the adaptive fuzzy backstepping output feedback tracking control problem is considered for a class of uncertain stochastic multi-input and multi-output (MIMO) nonlinear systems in pure-feedback form. The stochastic MIMO nonlinear systems under study have unknown nonlinear functions, input saturation and immeasurable states. By using fuzzy logic systems to identify the uncertain n...

This paper addresses the analysis, design, and application of observer-based nonlinear controls by combining feedback linearization (FBL) and backstepping (BS) techniques with Luenberger observers. Complete development of observer-based controls is presented for a bioprocess. Controllers using input-output feedback linearization and backstepping techniques are designed first, assuming that all ...

in this paper, the problem of decentralized model reference adaptive control (mrac) for a class of large scale systems with time varying delay in interconnected term and input and state delays is studied. to compensate the effect of input delay indirectly, a smith predictor built on. to handle the effects of the time delays in input, the adaptive controller part includes two auxiliary dynamic f...

In this paper, an adaptive fuzzy backstepping control approach is developed for a class of nonlinear systems with unknown time delays and unmeasured states. By using fuzzy logic systems to approximate the unknown nonlinear functions, a fuzzy adaptive state observer is designed for estimating the unmeasured states. By combining the adaptive backstepping technique with adaptive fuzzy control desi...

In this paper, an adaptive backstepping command filtered controller is proposed for a class of uncertain strict feedback fractional-order chaotic systems with input saturation and external disturbances. A filter designed to avoid the “explosion complexity” problem in conventional technique. To tackle error improve synchronization accuracy, compensation mechanism provided. Meanwhile, fuzzy logic...

The paper presents a certainty equivalence output feedback backstepping adaptive control design method for the systems of any relative degree with unmatched uncertainties without over-parametrization. It uses a fast prediction model to estimate the unknown parameters, which is independent of the control design. It is shown that the system’s input and output tracking errors can be systematically...