Results 141 to 150 of about 2,783 (186)

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
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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

Backstepping controller for a wheeled mobile robot

2015 4th International Conference on Systems and Control (ICSC), 2015
In this paper, a control algorithm based on Backstepping technique for differential drive mobile robot path tracking is developed. The use of backstepping theory to solve the problem of path tracking is relatively new in the field of mobile robots control.
Gh. Zidani, Saïd Drid, Larbi Chrifi-Alaoui, A. Benmakhlouf, S. Chaouch   +4 more
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Nonlinear backstepping ship course controller

International Journal of Automation and Computing, 2009
A ship, as an object of course control, is characterized by a nonlinear function describing the static maneuvering characteristics. The backstepping method is one of the methods that can be used during the designing process of a nonlinear course controller for ships.
Anna Witkowska, Roman Smierzchalski
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Adaptive Backstepping Control

2008
Recursive design in this book is composed of some simple basic steps. They are referred to as “backstepping designs” because they step back toward the control input starting with a scalar equation. This chapter reviews basic backstepping tools for state feedback control and output feedback control. To easily grasp the design and analysis procedures, we
Jing Zhou, Changyun Wen
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Integral Backstepping Control for Quadrotor Helicopters

Proceedings of the 9th International Conference on Computer and Automation Engineering, 2017
In this paper, a novel nonlinear control approach is designed for the quadrotor helicopter to achieve the trajectory tracking task in a complex battle field. The 6-DOF dynamic model of the quadrotor is introduced based on the Newton-Euler formula. Considering the characteristic of the quadrotor dynamics, a hierarchical control scheme consisting of a ...
Zhenyue Jia, Jianqiao Yu, Xiaolin Ai
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Backstepping design for controlling electrohydraulic servos

Journal of the Franklin Institute, 2006
zbMATH Open Web Interface contents unavailable due to conflicting licenses.
Ioan Ursu, Felicia Ursu, Florica Popescu
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Variable Structure Aadaptive Backstepping Controller

2008 47th IEEE Conference on Decision and Control, 2008
This paper presents a Variable Structure Adaptive Backstepping Controller (VS-ABC) for plants with relative degree one, using only input/output measurements. Instead of traditional integral adaptive laws for estimating the plant parameters, switching laws are used to increase robustness to parametric uncertainties and disturbances, as well as, to ...
Kurios Iuri Queiroz, Aldayr D. Araújo
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Adaptive Backstepping Control

2007
Adaptive backstepping algorithms for a class of nonlinear continuous uncertain processes with disturbances are considered. Sliding mode control using a combined adaptive backstepping sliding mode control algorithm is also studied. The algorithms follow a systematic procedure for the design of adaptive control laws for the output of observable minimum ...
Ali Jafari Koshkouei, Russell E. Mills, Alan S. I. Zinober   +2 more
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Observer Backstepping for Nonlinear Drive Control

Proceedings of the 45th IEEE Conference on Decision and Control, 2006
This paper addresses the control problem of a specially designed nonlinear actuator intended for use in legged robots and other related mechatronic devices. Use of this drive could considerably increase energy efficiency and the time of autonomous robot operation.
Roemi Fernández, Anders Robertsson, Rolf Johansson 0001, Teodor Akinfiev, Manuel A. Armada   +4 more
openaire   +1 more source