Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 20 of 36 for “"Backstepping"”.
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Nonlinear UAV Flight Control Using Command Filtered Backstepping
… flight path control via command filtered backstepping, for use in AME UAS's Fury® 1500 unmanned flying wing aircraft. Backstepping is a recursive, control-effort minimizing, constructive design procedure that interlaces the choice of a Lyapunov function with the design of feedback control. …
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An integrator backstepping controller for a standard helicopter
This thesis investigates the use of an integrator backstepping controller for a standard helicopter. First, a dynamic model of the helicopter in hovering condition is obtained through the use of Newton-Euler equations. Next, the idea of an integrator backstepping controller is examined followed by …
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Model Reference Adaptive Backstepping Control of an Autonomous Ground Vehicle
… for the varying dynamics of the vehicle. A backstepping algorithm is developed to connect the predator-prey model commanding desired velocities to an appropriate torque controller for the motors of the vehicle. To account for the unknown dynamic model parameters an adaptive control approach …
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Dynamic Inversion and Backstepping Controller Robustness Analysis for a Reusable Launch Vehicle
… control methods like dynamic inversion and backstepping may eliminate the need to use classical gain tuning techniques that may increase quick turnaround time, reliability, and performance. Both methods consider the dynamics of the vehicle allowing the controller to be applied to the whole …
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Backstepping Control and Transformation of Multi-Input Multi-Output Affine Nonlinear Systems into a Strict Feedback Form
… strict feedback form. This enables using backstepping control approaches based on Lyapunov stability and integrator backstepping theory to be applied. The geometrical coordinate transformation of multi-input multi-output affine nonlinear systems into strict feedback form has not been …
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Robust adaptive control of uncertain nonlinear systems
… controller designs are presented using backstepping methodology, neural network parametrization and robust adaptive control. The results are derived based on rigorous Lyapunov stability analysis. The control performance of the closed-loop systems is explicitly analyzed. Decoupled …
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Modeling, Identification, and Control of an Unmanned Surface Vehicle
… is compared using aggressive trajectories. The backstepping control law compares favorably to the PD cascade controller. The backstepping control law is then further modified to account for nonlinear sternward dynamics and for a constant or slowly varying fluid flow.
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Spacecraft nonlinear attitude control with bounded control input
… and dynamics makes the method of integrator backstepping preferred scheme for the spacecraft nonlinear attitude control. However, the conventional backstepping control design method may result in excessive control torque beyond the saturation bound of the actuators. While remaining within the …
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Adaptive, suboptimal and nonlinear control of an aeroelastic system
… law. Finally a nonlinear controller based on backstepping design is presented. Unsteady aerodynamic model is used for the design of the suboptimal controller using state dependent Riccati equation approach and nonlinear controller using backstepping design technique. The unsteady aerodynamic …
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Adaptive Controller Development and Evaluation for a 6DOF Controllable Multirotor
… augmented model reference adaptive control, backstepping, and adaptive backstepping (aBack). For the simulations, the omnicopter is commanded to point at and track a stationary aim point as it travels along a $C^0$ continuous trajectory and a trajectory that is $C^1$ continuous. The …
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Stabilization And Tracking Of The Van Der Pol Oscillator
… output feedback controller based on adaptive backstepping technique is introduced for the tracking problem when all parameters of the Van der Pol system are unknown.
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ADAPTIVE CONTROL DESIGN FOR QUADROTORS
… For the rotational subsystem in the inner loop a backstepping based control design is adopted due to its systematic design and intuitive approach. An adaptive component is further integrated with it to estimate the integrated components of the uncertain Moment of Inertia matrix and other constant …
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Evacuation Distributed Feedback Control and Abstraction
… cases is feedback linearization which includes backstepping for higher order two-equation models, Lyapunov redesign for uncertain models and robust backstepping for two-equation uncertain models. The work also focuses on abstraction of evacuation system which focuses on obtaining models with …
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Effect of System Dynamics on Shape Memory Alloy Behavior and Control
… stress of the SMA wire. Finally, a model-based Backstepping Controller is designed for the SMA-actuated arm. This model-bsed controller allows designing the controller parameters based on the parameters of the system. Additionally, the stability of the controller is studied. Using the Lyapunov …
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Nonlinear control of an aerobatic RC airplane
… flight controller based on the ideas of backstepping is applied to an aerobatic RC airplane. The controller asymptotically tracks a time-parameterized position reference, and depends on an orientation look-up rule to determine the vehicle orientation from a desired acceleration. A …
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The sequence stratigraphic evolution of the Sturgeon Lake bank, central Alberta, Canada and its regional implications.
… Formation across the WCSB reveals a dominantly backstepping stratal geometry. The Sturgeon Lake South bank complex is composed of 12 retrogradationally stacked depositional sequences. Sequences 1 and 2 prograde, and sequences 3-6 backstep. Bank formation and stratal geometries are controlled by …
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Adaptive neural network control of discrete-time nonlinear systems
… controls. State feedback, output feedback, backstepping design are used respectively in developing the stable adaptive controls. By using Lyapunov method, semi globally uniformly ultimate boundedness stability is proved for each kind of systems. All the closed loop signals are guaranteed to …
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DEVELOPMENT OF ADAPTIVE ROBUST SCHEMES FOR NONLINEAR UNCERTAIN SYSTEMS
… techniques with other control methods, such as backstepping control method and variable structure control method, we propose new adaptive robust control schemes for nonlinear dynamical systems with both structured and unstructured system uncertainties. The adaptive robust methods are further …
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Some tracking problems for aerospace models with input constraints
… strict Lyapunov function methods and bounded backstepping.
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