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Backstepping controller for a wheeled mobile robot
2015 4th International Conference on Systems and Control (ICSC), 2015In 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 +4 more
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ADAPTIVE BACKSTEPPING CONTROL OF A CLASS OF CHAOTIC SYSTEMS
International Journal of Bifurcation and Chaos, 2000This paper is concerned with the control of a class of chaotic systems using adaptive backstepping, which is a systematic design approach for constructing both feedback control laws and associated Lyapunov functions. Firstly, we show that many chaotic systems as paradigms in the research of chaos can be transformed into a class of nonlinear systems in
Ge, S.S., Wang, C., Lee, T.H.
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Control of Strings and Flexible Beams by Backstepping Boundary Control
2007 American Control Conference, 2007We present the controller and observer designs for hyperbolic PDE systems. The main ideas are introduced on the example of a wave equation - a model of an undamped, vibrating string. Both a full state feedback boundary controller and a boundary sensor based observer are introduced.
Miroslav Krstic +3 more
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PVTOL Control: A Backstepping Approach
2015 International Conference on Mechatronics, Electronics and Automotive Engineering (ICMEAE), 2015A control design to solve the regulation problem for a simplified PVTOL system strongly coupled is introduced in this paper. The proposed method is divided in two simultaneous control actions: the first one helps to stabilize the vertical position while the second one is used to do the same both the horizontal position and the angle.
Carlos Aguilar-Ibanez +2 more
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2012
This chapter introduces backstepping controller design with RBF neural network approximation. Several controller design examples for mechanical systems are given, including backstepping controller for inverted pendulum, backstepping controller for single-link flexible joint robot, and adaptive backstepping controller for single-link flexible joint ...
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This chapter introduces backstepping controller design with RBF neural network approximation. Several controller design examples for mechanical systems are given, including backstepping controller for inverted pendulum, backstepping controller for single-link flexible joint robot, and adaptive backstepping controller for single-link flexible joint ...
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Passive control of backstep flow
Experimental Thermal and Fluid Science, 1998Abstract The passive control of turbulent flow downstream of a backward-facing step using a permeable reattachment surface is described. An impermeable reattachment surface leads to the upstream convection of rotational fluid and pressure disturbances which is absent when a permeable surface is used.
A.F Heenan, J.F Morrison
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ADAPTIVE BACKSTEPPING CONTROL OF UNCERTAIN LORENZ SYSTEM
International Journal of Bifurcation and Chaos, 2001In this paper, we consider the problem of controlling chaos in the well-known Lorenz system. Firstly we show that the Lorenz system can be transformed into a kind of nonlinear system in the so-called general strict-feedback form. Then, adaptive backstepping design is used to control the Lorenz system with three key parameters unknown.
Chen Wang 0136, Shuzhi Sam Ge
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Block Backstepping Control of MIMO Systems
IEEE Transactions on Automatic Control, 2011Based on the Lyapunov stability theorem, a methodology of designing the block backstepping controller for a class of multi-input multi-output (MIMO) systems is proposed to solve the tracking problem. Some adaptive mechanisms are embedded both in the virtual input controller and in the backstepping controllers so that not only are the perturbations ...
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