Results 131 to 140 of about 20,624 (185)

Backstepping control of polymerization reactor

2013 9th Asian Control Conference (ASCC), 2013
This paper presents adaptive backstepping methodology for controlling polymerization process under parametric uncertainty and input saturation. In general controlling complex chemical processes is a challenging problem due to the structural mismatch and uncertainty of parameters. Adaptive algorithm, whether linear or non-linear, is an essential tool to
Pinakpani Biswas, Amar Nath Samanta
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Backstepping Control for a Quadrotor Helicopter

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006
This paper presents a nonlinear dynamic model for a quadrotor helicopter in a form suited for backstepping control design. Due to the under-actuated property of quadrotor helicopter, the controller can set the helicopter track three Cartesian positions (x, y, z) and the yaw angle to their desired values and stabilize the pitch and roll angles.
Tarek Madani, Abdelaziz Benallegue
openaire   +1 more source

Modified backstepping control of Quadrotor

International Multi-Conference on Systems, Sygnals & Devices, 2012
In this paper, a modified backstepping approach will be developed and applied to control unmanned areial vehicles (UAVs), Quadrotor. In this modified backstepping approach, the number of control parameters is reduced by half compared with the classical back stepping approach used in the literature.
Abdul-Wahid A. Saif, Mujahid Dhaifullah, Mohammad Al-Malki, Mustafa El Shafie   +3 more
openaire   +1 more source

Backstepping and adaptive backstepping control on robotic ARM

2015 International Conference on Control Communication & Computing India (ICCC), 2015
Robotic arm is extensively used in applications that requires high precision and accuracy such as biomedical and laser treatments. Backstepping and adaptive backstepping are implemented on the system. In this paper, the parameters of the robotic arm are assumed to be initially unknown.
Mohammed R. Junaid, Laila M. Beebi, C.R. Ashima   +2 more
openaire   +1 more source

Integrator backstepping for rounded controls and control rates

IEEE Transactions on Automatic Control, 1998
A set of conditions guaranteeing the existence of a stabilizing control law for a class of nonlinear systems is presented. A backstepping procedure is proposed such that the magnitudes of both the control signal and its derivative are bounded by constants which do not depend on the initial conditions.
Randy A. Freeman, Laurent Praly
openaire   +2 more sources

Backstepping control in the physical domain

Journal of the Franklin Institute, 2001
For systems of a certain structure, backstepping control can be used to alter the system's behaviour to a more desirable one. Contrary to other approaches based on equations and mathematical control theory, the author proposes the use of bond graphs to analyse the energy interaction between subsystems.
openaire   +2 more sources

Velocity Control of a UAV using Backstepping Control

Proceedings of the 45th IEEE Conference on Decision and Control, 2006
This paper presents novel backstepping based velocity control method for unmanned helicopters. The algorithm is developed from a similar backstepping control for a general rigid body. This approach has enabled a new control scheme and it has made the development of the control algorithm very clear.
Hemanshu Roy Pota, Bilal Ahmed, Matt Garratt   +2 more
openaire   +1 more source

Adaptive Backstepping Control for Flight Simulator

First International Conference on Innovative Computing, Information and Control - Volume I (ICICIC'06), 2006
The flight simulator is a kind of servo system with uncertainties and disturbances. To obtain high performance and good robustness for the flight simulator, we present an adaptive Backstepping controller, which is robust to the parameter uncertainties and load disturbances.
Qingwei Wang, Zhenghua Liu, Lianjie Er
openaire   +1 more source

Backstepping Control of Variable Stiffness Robots

IEEE Transactions on Control Systems Technology, 2015
Robots with elastic joints arouse an increasing interest in the robotics community. Especially, variable stiffness robots promise to be beneficial regarding robustness and task adaptability. However, the control of variable stiffness multijoint robots is challenging due to their highly nonlinear behavior.
Petit, Florian, Daasch, Andreas, Albu-Schäffer, Alin Olimpiu   +2 more
openaire   +2 more sources

A backstepping approach to control of active suspensions

Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228), 2002
A nonlinear active suspension is designed using back-stepping techniques. The underlying suspension model is linear, but is subjected to a hard constraint on the suspension deflection. The controller guarantees global asymptotic stability of the closed-loop system, and prevents the suspension from bottoming out.
Niklas Karlsson, Andrew R. Teel, Davor Hrovat   +2 more
openaire   +1 more source