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In many industrial applications, the end-effectors of robotic manipulators are required to move from one place to the other and follow some desired trajectories accurately. This paper proposes the nonlinear backstepping design with sliding mode control (SMC) scheme for the trajectory tracking of a robotic manipulator. The main control objective here is not only to track the desired trajectory, but...
In this paper, an adaptive backstepping design scheme with sliding mode concept has been developed for the tracking control of a helicopter in vertical flight system. In general, the control of small-scale helicopter is a difficult task, because the helicopter system is highly nonlinear, coupled and sensitive. For simplicity, only vertical flight motion is focused on here. This type of system has...
In this paper, a nonlinear adaptive backstepping design control scheme is proposed for the trajectory tracking control of flexible-joint robotic manipulators. The difference between flexible-joint and common robotic manipulators is the occurrence of angular errors between motor rotation and link movement In many cases, the end of the link is required to move from one place to another and follows various...
The major purpose of this paper is to apply backstepping design scheme for the balancing control of some pendulum-like plants, which are a class of underactuated systems. The key control objective of the inverted-pendulum-type underactuated systems is not only to maintain the pendulum at the upright position, but also to force the actuator to return its starting point. In order to investigate and...
In this paper, a novel sensorless speed tracking control scheme is proposed for the design of permanent magnet synchronous motors (PMSM). This design strategy consists of nonlinear backstepping controllers and an angular velocity observer to achieve the purpose of speed following. The PMSM design, in general, requires angular velocity measurement to achieve control goals, but most PMSM systems do...
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