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Backstepping adaptive position control for robotic manipulators
Proceedings of the 2001 American Control Conference. (Cat. No.01CH37148), 2001The paper presents a general approach for the design of an adaptive position control for a robotic system by the backstepping strict-feedback technique. The advantage of this control technique is that it imposes desired properties of stability by fixing the candidate Lyapunov functions initially, then by calculating the other functions in a recursive ...
Donatien Nganga-Kouya +3 more
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Adaptive backstepping control of pneumatic servo system
2013 IEEE International Symposium on Industrial Electronics, 2013Because of its high power-to-weight ratio, safe, clean and other advantages, pneumatic servo systems are widely applied in the factory automation and the other applications. However, due to the compressibility of gas and friction, the high precision control is a challenge and key problem of pneumatic servo system.
Hai-Peng Ren 0001, Chao Huang
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A Backstepping-like Approach to Adaptive Control in Discrete Time
European Journal of Control, 2000zbMATH Open Web Interface contents unavailable due to conflicting licenses.
Salvatore Monaco +2 more
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Backstepping-based adaptive PID control
IEE Proceedings - Control Theory and Applications, 2002This paper addresses analysis and design issues in adaptive PID control for linear second-order minimal phase processes using the backstepping algorithm. The first step consists in adding an integral action to the basic backstepping algorithm to obtain a zero static error..
A.R. Benaskeur, A. Desbiens
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Wavelet Adaptive Backstepping Control for a Class of Nonlinear Systems
IEEE Transactions on Neural Networks, 2006This paper proposes a wavelet adaptive backstepping control (WABC) system for a class of second-order nonlinear systems. The WABC comprises a neural backstepping controller and a robust controller. The neural backstepping controller containing a wavelet neural network (WNN) identifier is the principal controller, and the robust controller is designed ...
Chun-Fei Hsu, Chih-Min Lin, Tsu-Tian Lee
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Adaptive backstepping control for a convertible UAV
2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS), 2015This paper focuses on a convertible unmanned aerial vehicle (CUAV) whose main characteristics is to perform hover flight for launch or recovery, and horizontal mode during cruise. The dynamic model is obtained using the Newton-Euler approach and it considers the aerodynamic effects.
V. Martinez +4 more
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Adaptive backstepping control of nonlinear systems
2019 Chinese Control And Decision Conference (CCDC), 2019In this paper, a novel adaptive backstepping control scheme is proposed for a class of nonlinear systems with unknown disturbances. A new adaptive disturbance approximation algorithm is proposed to estimate unknown compound disturbances, including external disturbances and system uncertainties.
Xia Chen, Qiang Zhang, Subing Liu
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Adaptive Backstepping Control Using Combined Direct and Indirect Adaptation
Circuits, Systems & Signal Processing, 2007zbMATH Open Web Interface contents unavailable due to conflicting licenses.
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An Adaptive Block Backstepping Controller For A Quadrotor
2018 6th International Conference on Control Engineering & Information Technology (CEIT), 2018An adaptive block backstepping controller is proposed to control the position of a quadrotor with uncertain model parameters. The controller design procedure is provided considering the stability of six blocks involving the states of the model. In each step the stability of the concerned block is shown by means of Lyapunov stability theorem.
Akgün, Onur, Türker, Türker
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Nonlinear Adaptive Control of Systems in Feedback Form: An Alternative to Adaptive Backstepping
IFAC Proceedings Volumes, 2004zbMATH Open Web Interface contents unavailable due to conflicting licenses.
Dimitrios Karagiannis +1 more
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