Improvement of integrator backstepping control for ships with concise robust control and nonlinear decoration

2019 ◽  
Vol 189 ◽  
pp. 106349 ◽  
Author(s):  
Xian-ku Zhang ◽  
Xu Han ◽  
Wei Guan ◽  
Guo-qing Zhang
Keyword(s):  
Robust Control ◽  
Backstepping Control ◽  
Integrator Backstepping

An Integrator-Backstepping Control Approach for Three-Dimensional Needle Steering

2019 ◽  
Vol 24 (5) ◽  
pp. 2204-2214
Author(s):  
Bita Fallahi ◽  
Michael Waine ◽  
Carlos Rossa ◽  
Ron Sloboda ◽  
Nawaid Usmani ◽  
...  
Keyword(s):  
Three Dimensional ◽  
Backstepping Control ◽  
Needle Steering ◽  
Control Approach ◽  
Integrator Backstepping

scholarly journals PI/backstepping control of snake robot optimazed by genetic algorithm

2014 ◽  
Vol 3 (2) ◽  
pp. 99 ◽  
Author(s):  
Maryam Jafari ◽  
Aref Shahmansoorian
Keyword(s):  
Genetic Algorithm ◽  
Robust Control ◽  
Sliding Mode ◽  
Tracking Error ◽  
Backstepping Control ◽  
Control Parameters ◽  
Motion Pattern ◽  
Snake Robot ◽  
The Stability ◽  
And Control

This paper describes the design of robust control of PI/Backstepping for the snake robot to control the joints motion. First, the stability of the method is proved and, by applying this controller to the robot, its motion pattern is controlled in a way that it can move and follow by mimicking the motion of real snakes on the predefined trajectories. Then, the control parameters are optimized using the Genetic Algorithm (GA). Comparing obtained results with sliding mode revealed that, the former has significantly reduced the tracking error and control energy; in addition there is no chattering phenomenon. Keywords: Snake Robot, PI/Backstepping Control, Genetic Algorithm, Control Energy.

Real-Time Implementation of a Neural Integrator Backstepping Control via Recurrent Wavelet First Order Neural Network

2018 ◽  
Vol 49 (3) ◽  
pp. 1629-1648 ◽  
Author(s):  
Luis A. Vázquez ◽  
Francisco Jurado ◽  
Carlos E. Castañeda ◽  
Alma Y. Alanis
Keyword(s):  
Neural Network ◽  
Real Time ◽  
Backstepping Control ◽  
Neural Integrator ◽  
First Order ◽  
Integrator Backstepping

Adaptive Integrator Backstepping Control for Magnetically Actuated Satellite

2014 ◽  
Vol 47 (1) ◽  
pp. 255-262
Author(s):  
Atanu Halder ◽  
Dipak Kumar Giri ◽  
Manoranjan Sinha
Keyword(s):  
Backstepping Control ◽  
Magnetically Actuated ◽  
Integrator Backstepping
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