This paper presents a novel algorithm for the design and analysis of an adaptive backstepping controller (ABC) for a microgyroscope. Firstly, Lagrange–Maxwell electromechanical equations are established to derive the dynamic model of a z-axis m...
This work derives the models which can be used to design and implement control laws for six degrees-of-freedom (DOF) quadrotor stability. The first part of this paper deals with the presentation of the background of quadrotor modeling; the second par...
The stability of a single machine infinite bus system with a static var compensator is proposed by an improved adaptive backstepping algorithm, which includes error compensation, sliding mode control and a
Piezoelectric actuators (PEAs) are widely used in high-precision applications but suffer from nonlinear hysteresis effects that degrade positioning accuracy. To address this challenge, this study presents a backstepping controller with an Artificial...
Unmanned Aerial Vehicles (UAVs), commonly known as drones, have become widely used in many fields, ranging from agriculture to military operations, due to recent advances in technology and decreases in costs. Quadrotors are particularly important UAV...
Advancements in underwater robotic fish have generated new requirements for diverse underwater scenarios, presenting challenges in attaining efficient and precise control, particularly in the realm of classical trajectory tracking. In response to the...
This paper presents observer backstepping as a new nonlinear flight control design framework. Flight control laws for general-purpose maneuvering in the presence of nonlinear lift and side forces are designed. The controlled variables are the angle o...
This document presents a new hybrid combination of filters using passive and active elements because of the generalization in the use of non-linear loads that generate harmonics directly affecting the symmetry of energy transmission systems that infl...
This paper presents a Neural Backstepping control strategy for trajectory tracking of a differential-drive mobile robot. The proposed approach combines a dynamic-level backstepping controller with a lightweight single-hidden-layer adaptive neural net...
This work introduces modified backstepping methods to design controllers for neutral point clamped (NPC) converters interfacing a DC/AC microgrid. The modified backstepping controllers are derived from a proper converter model, represented in dq coor...
The primary goal of this work is to present the design of sliding mode control, based on the backstepping approach, for the attitude tracking control of a micro-satellite, using reaction wheels. The presented technique is developed by combining slidi...
In this paper, an underwater robot system with nonlinear characteristics is studied by a backstepping method. Based on the state preservation problem of an Autonomous Underwater Vehicle (AUV), this paper applies the backstepping probabilistic gain co...
This paper proposes a dynamic event-triggered adaptive backstepping control for underactuated autonomous underwater vehicle systems (AUVs) with input saturation. The proposed method ensures the system’s stability by introducing a new auxiliary...
A photovoltaic system generates energy that depends on the environmental conditions such as temperature, irradiance and the variations in the load connected to it. To adapt to the consistently increasing interest of energy, the photovoltaic (PV) syst...
In this paper, a backstepping-based formation control of quadrotors with the state transformation technique is proposed. First, the dynamics of a quadrotor is derived by using the Newton–Euler formulation. Next, a backstepping-based formation control...
Both backstepping control (BC) and sliding mode control (SMC) have been studied extensively over the past few decades, and many variations of controller designs based on them can be found in the literature. In this paper, sliding mode control in a ba...
The application scope of unmanned aerial vehicles (UAVs) is increasing along with commensurate advancements in performance. The hybrid quadrotor vertical takeoff and landing (VTOL) UAV has the benefits of both rotary-wing aircraft and fixed-wing airc...
As the extension of traditional linear (or X) inverted pendulum (IP), X-Z IP is a multiple-input multiple-output (MIMO), underactuated, open-loop unstable, and nonlinear system. In the tracking control of the X-Z IP, the equilibrium point changes wit...
This study presents a reinforcement learning-based approach for the adaptive control of chaotic systems, where a Deep Q-Network (DQN) is employed to adjust the parameters of a nonlinear backstepping controller in order to maximize a predefined reward...
In this paper, the velocity and altitude control problem of hypersonic vehicles is studied. Aiming at the nonlinear parameter uncertainties, external disturbances and coupling of the hypersonic vehicle system, a control method combining backstepping...
Marine current energy is attracting more and more attention in the world as a reliable and highly predictable energy resource. However, conventional proportional integral (PI) control will be sensitive to the numerous challenges that exist in a marin...
A control method that combines trajectory planning and backstepping is proposed for the antisway problem of underactuated overhead cranes under wind disturbance. First, a set of flat outputs is proposed so that the crane system dynamics can be repres...
In this paper, a robust control technique is developed to achieve the quadrotor stabilization against unmodeled matching vanishing dynamics. The synthesis of the proposed robust control is based on the Lyapunov approach and the backstepping method al...
Wing rock is a highly nonlinear phenomenon when the aircraft suffers undesired roll-dominated oscillatory at high angle of attack (AOA). Considering the strong nonlinear and unsteady aerodynamic characteristics, an uncertain multi-input and multi-out...
Quadrotor unmanned aerial vehicles (QUAVs) are widely used in civil and defense applications, yet reliable trajectory tracking remains challenging under external disturbances and limited sensing. Conventional backstepping–sliding mode controlle...
In this work, DC and AC parts of hybrid microgrids are interconnected by a neutral point clamped—NPC converter controlled using a new backstepping predictive (BP) method. The NPC converter is controlled to operate in the DC microgrid voltage control...
In this paper, the problem of pitching attitude finite-horizon optimization for aircraft is posed with system uncertainties, external disturbances, and input constraints. First, a neural network (NN) and a nonlinear disturbance observer (NDO) are emp...
Niche can reflect the changes in the quality of the ecological environment and the balance of ecological state. The more advanced the ecosystem, the more complex and higher-order nonlinearities and uncertainties that are presented. For such an uncert...
The modular multilevel converter (MMC) has significant applications in power systems due to its promising features, such as modularity, reliability, scalability, and low harmonic distortion. One of the challenges in the operation of MMC is to regulat...
This paper developed an adaptive backstepping fuzzy sliding control (ABFSC) approach for a micro gyroscope. Based on backstepping design, an adaptive fuzzy sliding mode control was proposed to adjust the fuzzy parameters with self-learning ability an...
This article presents a hybrid backstepping consisting of two robust controllers utilizing the approximation property of a radial basis function neural network (RBFNN) for a quadrotor with time-varying uncertainties. The quadrotor dynamic system is d...
The niche situation can reflect the advantages and disadvantages of biological individuals in the ecosystem environment as well as the overall operational status of the ecosystem. However, higher-order niche systems generally exhibit complex nonlinea...
This article presents an adaptive integral backstepping controller (AIBC) for permanent magnet synchronous motors (PMSMs) with adaptive weight particle swarm optimization (AWPSO) parameters optimization. The integral terms of dq axis current followin...
This paper proposes an adaptive backstepping control algorithm for electric braking systems with electromechanical actuators (EMAs). First, the ideal mathematical model of the EMA is established, and the nonlinear factors are analyzed, such as the de...
In this paper, a prescribed performance adaptive backstepping control (PPABC) strategy is proposed to control the speed of a winding segmented permanent magnet linear synchronous motor (WS-PMLSM) with variable parameters and an unknown load disturban...
In order to overcome the influence of internal and external disturbances caused by rotor tilt motion and gust disturbance on the full flight mode control of a tilt-rotor unmanned aerial vehicle (UAV), a design method using fuzzy backstepping control...
A piston piezoelectric (PZT) pump has many advantages for the use of light actuators. How to deal with the contradiction between the intermittent oil supplying and position control precision is essential when designing the controller. In order to acc...
Due to the advantages of high energy efficiency and environmental friendliness, the electro-hydraulic actuator (EHA) plays a vital role in fluid power control. One variant of EHA, double pump direct driven hydraulics (DDH), is proposed, which consis...
A dual active bridge (DAB) converter in a modular three-port DC converter is the key equipment to connect distributed energy and energy storage units and realize its efficient and large-scale utilization. When a DAB converter with traditional control...
Backstepping is a control technique based on Lyapunov’s theory that has been successfully implemented in the control of motors and robots by several nonlinear methods. However, there are no standardized methods for tuning control gains (unlike...
An adaptive fractional-order fuzzy control method for a three-phase active power filter (APF) using a backstepping and sliding mode controller is developed for the purpose of compensating harmonic current and stabilizing the DC voltage quickly. The d...
The control performance of quadrotor unmanned aerial vehicles (UAVs) in complex environments can be affected by external disturbances and other factors. In this paper, an adaptive neural network backstepping controller based on the barrier Lyapunov f...
Smart structures with topological configurations that integrate perception and actuation have complex geometric features. The simplification of these features can lead to deviations in dynamic characteristics, making it difficult to establish an accu...
A permanent magnet synchronous motor (PMSM) is a nonlinear, strongly coupled, controlled object with time-varying, fractional-order characteristics. It is difficult to achieve the ideal control effect by using the traditional control method when moto...
In this paper, an adaptive backstepping terminal sliding mode control (ABTSMC) method based on a double hidden layer recurrent neural network (DHLRNN) is proposed for a DC-DC buck converter. The DHLRNN is utilized to approximate and compensate for th...
In this paper, a generalized nontriangular normal form is presented to facilitate designing a recursive integral backstepping control for the class of underactuated nonholonomic systems, i.e., wheeled mobile robots (WMRs) that perform posture stabili...
In view of the uncertainty of model parameters, the influence of external disturbances and sensor noise on the flight of coaxial rotor aircraft during autonomous flight, a robust backstepping sliding mode control algorithm for the position and attitu...
This paper presents a novel attitude control design, which combines
Interleaved boost converters (IBCs) are commonly used as interface converters for DC microgrids (MGs) due to their high efficiency and low output ripple. However, the MGs system can easily become unstable due to the negative impedance characteristics...
This paper presents a robust backstepping design for motion control in the presence of model uncertainties and exogenous disturbances. The main difficulty in dealing with motion control is to reduce the effect of friction, which exists in the moving...
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