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...
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...
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
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...
This paper presents a novel attitude control design, which combines
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...
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...
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 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...
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...
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...
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 article, a nonlinear adaptive fuzzy backstepping controller combined with an adaptive backstepping controller and an adaptive fuzzy controller is proposed for real-time tracking control of an electro-hydraulic force loading system. Firstly, a...
A path following control strategy for a four-wheel-independent-drive electrical vehicle (4WID-EV) based on backstepping and model predictive control is presented, which can ensure the accuracy of path following and maintain vehicle stability simultan...
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...
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...
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 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...
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...
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...
Control delay phenomena, such as time delays and actuator lags, can compromise the control performance of autonomous mobility systems, leading to increased control errors. Therefore, it is essential to develop a control delay compensation algorithm....
A nonlinear adaptive backstepping control method was proposed to address the system parameter uncertainty problem in the position control process of an electro-hydraulic servo closed-pump control system. This control strategy fully considers the para...
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...
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...
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...
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...
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...
In this paper, a robust nonlinear approach for control of liquid levels in a quadruple tank system (QTS) is developed based on the design of an integrator backstepping super-twisting controller, which implements a multivariable sliding surface, where...
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...
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...
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...
To enhance the robustness of the toolface angle control in a fully rotary steerable drilling tool, a backstepping control law and a drilling fluid flow adaptive law are devised based on the dynamic model of the stable platform. The Lyapunov function...
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...
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...
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...
Burgers’ equation is used to describe wave phenomena in hydrodynamics and acoustics. It was derived originally as a prototype to provide analytic insight into the nature of turbulence and its modeling, and has found applications in the study of...
This paper presents a method of altitude control of the powered parafoil with uncertainties and disturbances based on sliding-mode backstepping control combined with a linear extended state observer (LESO). First, the dynamics of a powered parafoil i...
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...
The automotive electronic throttle (AET) control system has been widely applied in modern automotive engines, and accurate control of AET can improve engine performance as well as reduce pollution emissions. However, the noise in the sensor circuit a...
Secure power system operation relies extensively on the analysis of transient stability and control. The dynamics involved in power system control are often complex and nonlinear. Most of the currently existing works approach these frequent problems...
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...
In this paper, a trajectory tracking control strategy for low-speed car-like mobile robots (CLMRs) based on an extended state observer (ESO) and backstepping control is proposed to address the issue of trajectory tracking accuracy degradation caused...
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...
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...
This paper studies the attitude tracking control of a flexible airship subjected to wind disturbances, actuator saturation and control surface faults. Efficient flexible airship models, including elastic deformation, rigid body motions, and their cou...
Thin coal seam mining is a development direction to solve the problem of energy supply at this stage, which cannot be realized by small working space, low automation, and drilling deviation. In this paper, a nonlinear adaptive backstepping controller...
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...
This paper proposes a Hybrid Backstepping Super Twisting Algorithm for robust speed control of a three-phase Induction Motor in the presence of load torque uncertainties. First of all, a three-phase squirrel cage Induction Motor is modeled in MATLAB/...
In this paper, a backstepping sliding mode controller based on a nonlinear disturbance observer (NDO-SMC) is proposed to realize the high-performance speed control of a permanent magnet synchronous motor (PMSM). This paper compares the advantages and...
When a mobile robot inspects tasks with complex requirements indoors, the traditional backstepping method cannot guarantee the accuracy of the trajectory, leading to problems such as the instrument not being inside the image and focus failure when th...
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