This paper considers the problem of adaptive output feedback tracking control for a class of nonstrict-feedback nonlinear systems with unknown time-varying delays and unknown backlash-like hysteresis. Fuzzy logic systems are used to estimate the unknown nonlinear functions. Based on the Lyapunov–Krasovskii method, the control scheme is constructed by using the backstepping and adaptive techniqu...

This paper presents a neural network adaptive controller for autonomous diving control of an autonomous underwater vehicle (AUV) using adaptive backstepping method. In general, the dynamics of underwater robotics vehicles (URVs) are highly nonlinear and the hydrodynamic coefficients of vehicles are difficult to be accurately determined a priori because of variations of these coefficients with d...

In this paper, a novel adaptive attitude tracking control method is investigated to enhance performance and robustness for quadrotor unmanned aerial vehicle (UAV) against the modeling uncertainties external disturbances. First, dynamics of UAV based on modified Rodrigues parameter (MRP) derived. Then, an dynamic surface technique with robust integral sign error (RISE) approach are designed impr...

Adaptive critic (AC) based controllers are typically discrete and/or yield a uniformly ultimately bounded stability result because of the presence of disturbances and unknown approximation errors. A continuous-time AC controller is developed that yields asymptotic tracking of a class of uncertain nonlinear systems with bounded disturbances. The proposed AC-based controller consists of two neura...

This paper investigates the tracking control of a wheeled mobile robot in the unknown environment. A disturbance observer is developed with utilization the integral filter. The proposed control scheme employs the disturbance observer control approach to design an auxiliary wheel velocity controller to make the tracking errors, which includes the velocity tracking error, the angular velocity tra...

This paper investigates the formation keeping problem of heterogeneous ships with underactuated inputs, uncertain dynamics, and environmental disturbances. The control objective is to make followers keep desired while tracking a leader. To solve effectively, novel virtual leader–follower scheme considering ship heterogeneity proposed by utilizing backstepping method, adaptive neural network, la...

A networked control system is characterized by having a feedback loop closed through a local area network. This paper considers methods for scheduling the use of the network to guarantee both stability and controller performance. We propose and validate algorithms for choosing message identiÞers for dynamically scheduled networked control systems. Two schemes for selecting priority levels are p...

In this paper, an adaptive fuzzy controller (AFC) for a certain class of unknown nonlinear systems is proposed. The proposed approach employs a fuzzy system to approximate the unknown functions in designing the adaptive controller and an observer is designed to generate an error signal for the adaptive law. The free parameters of the AFC can be tuned on line based on the Lyapunov synthesis appr...