Relevant bibliographies by topics / Integral backstepping control

Contents

  1. Journal articles
  2. Dissertations / Theses
  3. Book chapters
  4. Conference papers

Academic literature on the topic 'Integral backstepping control'

Author: Grafiati
Published: 4 June 2025
Last updated: 15 July 2025

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Journal articles on the topic "Integral backstepping control"

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Jinlong, Zhang, Wang Jianhong, Wen Ruchun, et al. "Control Design of the Quadrotor Aircraft based on the Integral Adaptive Improved Integral Backstepping Sliding Mode Scheme." Engineering, Technology & Applied Science Research 14, no. 5 (2024): 17106–17. http://dx.doi.org/10.48084/etasr.8361.

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It is known that disturbances reduce tracking accuracy and control effect. To address these issues, in this paper, the Integral Adaptive Improved Integral Backstepping Sliding Mode Control (IAIIBSMC) method for position control of the quadrotor with uncertain disturbances, is proposed. Integrals are introduced into the adaptive reaching law and are extended to the control of virtual variables based on integral backstepping control, enhancing the system's anti-disturbance performance. The final combination with Sliding Mode Control (SMC) further improves system performance. Compared to the traditional Adaptive Integral Backstepping Control (AIBC), the proposed IAIIBSMC demonstrates superior tracking control, faster response, stronger anti-interference ability, and smaller overshoot. Experimental comparisons of different control methods and disturbances during fixed-point hovering and trajectory tracking show that the IAIIBSMC achieves better control. Specifically, the maximum position tracking error using IAIIBSMC is approximately 0.191 m, 22.04% lower than that of the AIBC. The steady-state error of IAIIBSMC is about 3 mm, which is negligible within the allowable range. These results validate the effectiveness and superiority of the proposed controller in achieving precise control under various disturbance conditions.
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Abdallah, Abden, Bouchetta A., Boughazi O., Baghdadi A., and K. Bousserhane I. "Double star induction machine using nonlinear integral backstepping control." International Journal of Power Electronics and Drive System (IJPEDS) 10, no. 1 (2019): 27–40. https://doi.org/10.11591/ijpeds.v10.i1.pp27-40.

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This paper presents a nonlinear Integral backstepping control approach based on field-oriented control technique, applied to a Double Star Induction Machine ‘DSIM’ feed by two power voltage sources. We present this technique of integral backstepping by using reduced and complete mathematical model. The objective is to improve the robustness of machine under internal parameter variation with nonlinear Integral backstepping control. The robustness test results obtained by simulation prove the effectiveness of control with using complete model of DSIM.
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Benheniche, Abdelhak, and Farid Berrezzek. "Integral Backstepping Control of Induction Machine." European Journal of Electrical Engineering 23, no. 4 (2021): 345–51. http://dx.doi.org/10.18280/ejee.230408.

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The goal of this work is to propose a latest design of a rotor speed and rotor flux modulus control approach for an induction machine using a Backstepping corrector with an integral action. The advantage of the Backstepping Strategy is the ability to manage a nonlinear system. The Lyapunov theory has been used to ensure the system stability. To improve the controller robustness proprieties the integral action is used, despite the system uncertainties and the existence of external disturbances. The unavailable rotor flux is recovered by estimation of the rotor flux of the machine based on the integration of the stator voltage expressions. The simulation results illustrate the effectiveness of the proposed control scheme under load disturbances, rotor resistance variation and low and high speed.
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Abdallah, Abden, A. Bouchetta, O. Boughazi, A. Baghdadi, and L. K. Bousserhane. "Double star induction machine using nonlinear integral backstepping control." International Journal of Power Electronics and Drive Systems (IJPEDS) 10, no. 1 (2019): 27. http://dx.doi.org/10.11591/ijpeds.v10.i1.pp27-40.

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<span lang="EN-GB">This paper presents a nonlinear Integral backstepping control approach based on field oriented control technique, applied to a Double Star Induction Machine ‘DSIM’ feed by two power voltage sources. We present this technique of integral backstepping by using reduced and complete Model of DSIM. The objective is to improve the robustness of machine under internal parameter variation with nonlinear Integral backstepping control. The robustness test results obtained by simulation prove the effectiveness of control with using complete model of DSIM.</span>
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Yang, Qian, Nan Nan Zhao, and Ming Hui Zhang. "Study on PMSM Integral Backstepping Controller Based on RBF Neural Network." Applied Mechanics and Materials 416-417 (September 2013): 599–605. http://dx.doi.org/10.4028/www.scientific.net/amm.416-417.599.

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In order to eliminate steady-state speed error of PMSM backstepping control system, an integral backstepping speed control algorithm is designed in this paper. By adding speed error integral factor in the speed Lyapunov function, the speed error can finally converge to zero when PMSM operates in steady-state. On this basis, an integral backstepping speed control algorithm based on RBF neural network compensation is proposed for PMSM backstepping control system used for high-altitude electric propulsion system which is vulnerable to load torque variables. The integral backstepping speed controller based on PMSM reference model can ensure global asymptotic convergence of the whole control system. In order to achieve fast robust adaptive control, the RBF neural network is adapted to online compensate dq axis current error produced by the reference speed and load torque changes. Simulink simulation results verify the feasibility of the given algorithm.
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Kamel, Bouzgou, Ibari Benaoumeur, Benchikh Laredj, and Ahmed-Foitih Zoubir. "Integral Backstepping Approach for Mobile Robot Control." TELKOMNIKA (Telecommunication Computing Electronics and Control) 15, no. 3 (2017): 1173. http://dx.doi.org/10.12928/telkomnika.v15i3.5667.

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Bouzgou, kamel, benaoumeur Ibari, laredj Benchikh, and Zoubir Ahmed-foitih. "Integral Backstepping Approach for Mobile Robot Control." TELKOMNIKA Telecommunication, Computing, Electronics and Control 15, no. 3 (2017): 1173–80. https://doi.org/10.12928/TELKOMNIKA.v15i3.5667.

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This paper presents the trajectory tracking problem of a unicycle-type mobile robots. A robust output tracking controller for nonlinear systems in the presence of disturbances is proposed, the approach is based on the combination of integral action and Backstepping technique to compensate for the dynamic disturbances. For desired trajectory, the values of the linear and angular velocities of the robot are assured by the kinematic controller. The control law guarantees stability of the robot by using the lyapunov theorem. The simulation and experimental results are presented to verify the designed trajectory tracking control.
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Ud Din, Waqar, Kamran Zeb, Muhammad Ishfaq, Saif Ul Islam, Imran Khan, and Hee Je Kim. "Control of Internal Dynamics of Grid-Connected Modular Multilevel Converter Using an Integral Backstepping Controller." Electronics 8, no. 4 (2019): 456. http://dx.doi.org/10.3390/electronics8040456.

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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 regulate the circulating current in its phase leg and sub module (SM) capacitor voltage. This paper presents the control of internal dynamics, i.e., circulating current and submodule capacitor voltage, of the MMC using an integral backstepping algorithm. The design of the controller is based on Lyapunov stability function. The backstepping control ensures the convergence of the error signal to zero. Additionally, the integral action in the control law increases the robustness and reliability of the system against the external disturbances and model uncertainties. Moreover, the integral term in the controller eliminates the residual steady-state error. The Lyapunov function-based design of the backstepping controller guarantees the convergence of circulating current as well as submodule capacitor voltage for any possible initial condition. Moreover, the performance of the proposed integral backstepping controller is compared with the proportional resonant (PR) controller. The proposed backstepping control scheme for three-phase MMC has been implemented in MATLAB/Simulink.
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Lin, Chih Hong, Ming Kuan Lin, and Chih Peng Lin. "Integral Backstepping Control for a PMSLM Using Adaptive RNNUO." Advanced Materials Research 468-471 (February 2012): 1946–51. http://dx.doi.org/10.4028/www.scientific.net/amr.468-471.1946.

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Due to uncertainties exist in the applications of the a permanent magnet synchronous linear motor (PMSLM) servo drive which seriously influence the control performance, thus, an integral backstepping control system using adaptive recurrent neural network uncertainty observer (RNNUO) is proposed to increase the robustness of the PMSLM drive. First, the field-oriented mechanism is applied to formulate the dynamic equation of the PMSLM servo drive. Then, an integral backstepping approach is proposed to control the motion of PMSLM drive system. With proposed integral backstepping control system, the mover position of the PMSLM drive possesses the advantages of good transient control performance and robustness to uncertainties for the tracking of periodic reference trajectories. Moreover, to further increase the robustness of the PMSLM drive, an adaptive RNN uncertainty observer is proposed to estimate the required lumped uncertainty. The effectiveness of the proposed control scheme is verified by experimental results.
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Li, Shenghui, and Zhenxing Sun. "A generalized proportional integral observer–based robust tracking design approach for quadrotor unmanned aerial vehicle." International Journal of Advanced Robotic Systems 19, no. 4 (2022): 172988062211170. http://dx.doi.org/10.1177/17298806221117052.

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This article mainly studies the trajectory tracking control for quadrotor unmanned aerial vehicle with unknown time-varying disturbances including parametric uncertainties, model errors, and external disturbances such as wind effects. Conventional backstepping control schemes usually cannot guarantee the performance when it faces the time-varying disturbances. Improved schemes, such as integral backstepping, can only compensate the disturbances in a relatively slow way. By introducing disturbance observer technology into the design of controller, a composite generalized proportional integral observer–based robust control design method is developed. First, by utilizing the generalized proportional integral observer, the lumped time-varying disturbances of unmanned aerial vehicle are estimated. Secondly, combining the value of disturbance estimation and feedforward controller by using backstepping control technology together, a composite controller has been developed, which can be called as backstepping control + generalized proportional integral observer. The proposed control method has a better capability of disturbance rejection and is easy to implement. Simulation and experimental results illustrate the good robustness and tracking performance of the proposed scheme.
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Dissertations / Theses on the topic "Integral backstepping control"

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Dahlgren, Johan. "Robust nonlinear control design for a missile using backstepping." Thesis, Linköping University, Department of Electrical Engineering, 2002. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-1574.

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<p>This thesis has been performed at SAAB Bofors Dynamics. The purpose was to derive a robust control design for a nonlinear missile using backstepping. A particularly interesting matter was to see how different design choices affect the robustness. Backstepping is a relatively new design method for nonlinear systems which leads to globally stabilizing control laws. By making wise decisions in the design the resulting closed loop can receive significant robustness. The method also makes it possible to benefit from naturally stabilizing aerodynamic forces and momentums. It is based on Lyapunov theory and the control laws and a Lyapunov function are derived simultaneously. This Lyapunov function is used to guarantee stability. In this thesis the control laws for the missile are first derived by using backstepping. The missile dynamics are described with aerodynamic coeffcients with corresponding uncertainties. The robustness of the design w.r.t. the aerodynamic uncertainties is then studied further in detail. One way to analyze how the stability is affected by the errors in the coeffcients is presented. To improve the robustness and remove static errors, dynamics are introduced in the control laws by adding an integrator. One conclusion that has been reached is that it is hard to immediately determine how a certain design choice affects the robustness. Instead it is at the point when algebraic expressions for the closed loop system have been obtained, that it is possible to analyze the affects of a certain design choice. The designed control laws are evaluated by simulations which shows satisfactory results.</p>
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Kroeger, Kenneth Edward. "Design and Evaluation of a Fixed-Pitch Multirotor UAV with a Nonlinear Control Strategy." Thesis, Virginia Tech, 2013. http://hdl.handle.net/10919/23109.

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The use and practical applications of small UAV systems has continually grown in the past several years in both the public and private sectors. These UAV systems are used for not only defensive purposes, but for commercial applications such as exterior bridge and home inspections, wildlife/wildfire management and observation, conservation exercises, law-enforcement, radio-repeating operations, and a wide variety of other uses that may not warrant the use, expense, space constraints, or risk of a manned aircraft. This thesis focuses on the design of a fixed pitch multirotor UAV system for use in furthering research projects and facilitating payload data collection from a flying platform without the expense or risk of testing with available larger UAV systems.<br /><br />The design of a multirotor UAV system with a flight control scheme, communication architecture and hardware, electrical architecture and hardware, and mechanical design is presented. An Extended Kalman Filter (EKF) strategy is implemented aboard a developed Inertial Measurement Unit (IMU) to estimate vehicle state. Experiments then validated the estimates from the EKF through a comparative approach between the developed unit and a commercial unit. A nonlinear flight control system is implemented based on an Integral-Backstepping control strategy. The flight control strategy was then fully simulated and exhaustively tested under a variety of external disturbances and initial conditions from a fully dynamic modeled environment. Parameters about the vehicle were experimentally determined to increase the accuracy of the model which would increase the chances of successful flight operations. <br /><br />Flight demonstrations were conducted to evaluate the abilities and performance of the control system, along with testing the interface abilities and reliability between a universal ground control station (UGCS) and the aircraft. Lastly, the model was revisited with the input data from the flight control experiment and the output captured was evaluated against the output of the model system to evaluate effectiveness, reliability, and accuracy of the model. The results of the comparison showed that the computer simulation was accurate in predicting attitude and altitude of the vehicle to that of the realized system.<br>Master of Science
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Tseng, Wen-te, and 曾文德. "Integral backstepping sliding mode control of a magnetic ball suspension system." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/50815165240543696440.

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碩士<br>國立雲林科技大學<br>電機工程系碩士班<br>99<br>The requirements of high speed and high accuracy demand become the recent trend in industry development. Therefore, servo position systems of high accuracy and excellent tracking performance play important roles. The magnetic ball suspension system uses the magnetic force to maintain the magnetic ball suspension in the air. It avoids the contact friction for the machine elements. However, this system is a nonlinear and open loop unstable system. In classical control, the controller is designed by using the operating point linearization method. It is suitable in the small region of operating point and sensitive to the parameter variations and external disturbances. In this thesis, we first build a model of a magnetic ball suspension system. In controller part, the integral backstepping sliding mode control is proposed. The neural network estimator is designed to estimate the bounds of the lumped uncertainties in real time. The stability of neural algorithm is approved by Lyapunov stability theory. Finally, we employ the experiments to validate the proposed controller for estimating boundary of uncertainties, eliminating steady state error and tracking the position commands.
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Shi, Jun-jie, and 施俊傑. "Integral backstepping control and adaptive neural network sliding control of a magnetic ball suspension system." Thesis, 2012. http://ndltd.ncl.edu.tw/handle/79213927835816196267.

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碩士<br>國立雲林科技大學<br>電機工程系碩士班<br>100<br>The high speed and high accuracy requirements are required in recent year, so that, the high accuracy and excellent tracking performance servo position system is played important roles in industry development. The magnetic force is used at magnetic ball in magnetic ball suspension system which avoids the contact friction, noise and vibrating from the machine elements. However, this system is a nonlinear and open loop unstable system. In classical control, the controller is designed by using the operating point linearization method. It is suitable in a small region of operating point and sensitive to the parameter variations and external disturbances. In this thesis, we build a mathematical model of a magnetic ball suspension system. The integral backstepping control is proposed in first part. The fuzzy estimator is designed to estimate the lumped uncertainties in real time. The genetic algorithm is used to search the center and width of Gauss function in the neural network by offline which promotes the convergence ability of proposed controller in second part. The stability of all control algorithms is approved by Lyapunov stability theory. Finally, the proposed controllers are tested through experiments to sure the estimator can be validated to estimate the lumped uncertainties that makes system eliminating steady state error and tracking the command successfully.
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Jiang, Guo-Wei, and 江國維. "Integral-Type Sliding Mode Control of Variable-Speed Wind Turbine via Backstepping Approach." Thesis, 2012. http://ndltd.ncl.edu.tw/handle/32796694293579368518.

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碩士<br>國立交通大學<br>機械工程學系<br>100<br>To capture wind energy effectively and transfer to electric power efficiently, the design of the blades and the wind turbine running at optimum speed under wind speed variation are the key issues. This study uses the integral-type sliding mode via backstepping control of variable-speed wind turbine as variable speed wind power system control strategy. By using the characteristics of backstepping control to ensure that the system is asymptotically stable also in good speed tracking characteristics. The wind turbine system using proposed integral-type sliding mode control is robustness to system parameter uncertainties and outside interference. This control strategy manipulates the wind power generator effectively at operating speed in the unstable environment of the variable wind speed. The system can quickly alter the generator velocity to cope with the wind speed, and also perform inhibition of outside interference, so that the generator output power is more stable to ensure power generation quality. This thesis designs the Integral-Type sliding mode controller with backstepping approach to control the velocity of wind power generator, and compares the advantages and disadvantages with the PI controller. The system using DC motor drives the permanent magnet synchronous generator as an experimental platform. And using DSP F2812 to implement the control algorithm and generates PWM signals to drive the IPM(Intelligent power modular) and generator.
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Book chapters on the topic "Integral backstepping control"

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Loucif, Mourad, Abdelkader Mechernene, and Badre Bossoufi. "Integral Backstepping Power Control of DFIG Based Nonlinear Modeling Using Voltage Oriented Control." In Digital Technologies and Applications. Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-73882-2_156.

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Chen, Xia, Qiang Zhang, and Jingdu Liu. "Extended State Observer-Based Saturation Integral Backstepping Control for Yaw Control of UAV Helicopters." In Lecture Notes in Electrical Engineering. Springer Singapore, 2021. http://dx.doi.org/10.1007/978-981-15-8155-7_336.

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Wang, Yuchen, Jianbing Kang, Zhe Lin, Ziyin Chen, and Nanxing Yan. "Adaptive Integral Backstepping Control Method for Space Tracking Turntable Based on NDOB." In Springer Proceedings in Physics. Springer Nature Singapore, 2023. http://dx.doi.org/10.1007/978-981-99-4098-1_30.

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Akil, Abdelmajid, Mourad Zegrari, and Nabila Rabbah. "Nonlinear Control of the Web Winding System by Backstepping with Integral Action." In Recent Advances in Electrical and Information Technologies for Sustainable Development. Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-05276-8_7.

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Mat-Noh, Maziyah, M. R. Arshad, and Rosmiwati Mohd-Mokhtar. "Robust Nonlinear Control of a Buoyancy-Driven Airship System Using Backstepping Integral Sliding Mode Control." In Lecture Notes in Electrical Engineering. Springer Singapore, 2021. http://dx.doi.org/10.1007/978-981-16-2406-3_15.

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Liang, Guoqiang, Jianhong Shi, and Junwei Lei. "Research on Backstepping Integral Control of Two Order Nonlinear Systems with Input Nonlinearity." In Advances in Computer Science, Environment, Ecoinformatics, and Education. Springer Berlin Heidelberg, 2011. http://dx.doi.org/10.1007/978-3-642-23324-1_2.

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Mat-Noh, Maziyah, Hamzah Ahmad, Nur Aqilah Othman, Dwi Pebrianti, and Herdawatie Abdul Kadir. "Robust Nonlinear Liquid Level Control of a Coupled-Tank System Using Backstepping Integral Sliding Mode Control." In Lecture Notes in Electrical Engineering. Springer Singapore, 2022. http://dx.doi.org/10.1007/978-981-16-8690-0_59.

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Yessef, Mourad, Badre Bossoufi, Mohammed Taoussi, et al. "Robust Control of a Wind Conversion System Based on a Doubly Fed Induction Generator: A Comparison Between Adaptive Backstepping and Integral Sliding Mode Controllers." In Digital Technologies and Applications. Springer International Publishing, 2022. http://dx.doi.org/10.1007/978-3-031-01942-5_72.

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M. Jasim, Wesam, and Dongbing Gu. "Integral Backstepping Controller for UAVs Team Formation." In Automation and Control [Working Title]. IntechOpen, 2020. http://dx.doi.org/10.5772/intechopen.93731.

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Xuan Ba, Dang, and Joonbum Bae. "Self-Learning Low-Level Controllers." In Collaborative Robots [Working Title]. IntechOpen, 2021. http://dx.doi.org/10.5772/intechopen.96732.

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Humanoid robots are complicated systems both in hardware and software designs. Furthermore, the robots normally work in unstructured environments at which unpredictable disturbances could degrade control performances of whole systems. As a result, simple yet effective controllers are favorite employed in low-level layers. Gain-learning algorithms applied to conventional control frameworks, such as Proportional-Integral-Derivative, Sliding-mode, and Backstepping controllers, could be reasonable solutions. The adaptation ability integrated is adopted to automatically tune proper control gains subject to the optimal control criterion both in transient and steady-state phases. The learning rules could be realized by using analytical nonlinear functions. Their effectiveness and feasibility are carefully discussed by theoretical proofs and experimental discussion.
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Conference papers on the topic "Integral backstepping control"

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Atallah, Meddah, Abdelkader Mezouar, Brahim Brahmi, Issam Salhi, Mohammed Amin Benmahdjoub, and Youcef Saidi. "Nonlinear Integral Backstepping Control of DFIGs-based Wind Farm under Unbalanced Electrical Grid Voltage." In 2024 12th International Conference on Systems and Control (ICSC). IEEE, 2024. https://doi.org/10.1109/icsc63929.2024.10928842.

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Shi, Yuhao, Salman Ijaz, Zenan He, Zhiyi Xu, Umair Javaid, and Yu Xia. "Adaptive Backstepping Integral Sliding Mode Control of Multirotor UAV System Used for Smart Agriculture." In 2024 IEEE International Conference on Systems, Man, and Cybernetics (SMC). IEEE, 2024. https://doi.org/10.1109/smc54092.2024.10831925.

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Saidi, Youcef, Brahim Brahmi, Abdelkader Mezouar, Meddah Atallah, and Mohammed Amine Benmahdjoub. "Nonlinear Integral Backstepping Control of Machine Side Converter PMSG Wind Turbine Conversion System During Grid Faults." In 2024 12th International Conference on Systems and Control (ICSC). IEEE, 2024. https://doi.org/10.1109/icsc63929.2024.10928724.

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Wang, Jiahui, Jing Chu, and Xinyu Liu. "Anti-Swing Control for Quadrotor with Slung Load Using Integral Backstepping Sliding Mode Controller and Extended State Observer." In 2024 China Automation Congress (CAC). IEEE, 2024. https://doi.org/10.1109/cac63892.2024.10864857.

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Jia, Zhenyue, Jianqiao Yu, and Xiaolin Ai. "Integral Backstepping Control for Quadrotor Helicopters." In the 9th International Conference. ACM Press, 2017. http://dx.doi.org/10.1145/3057039.3057052.

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Poultney, Alexander, Peiyan Gong, and Hashem Ashrafiuon. "Robust Integral Backstepping Control of Quadrotors." In ASME 2017 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2017. http://dx.doi.org/10.1115/dscc2017-5014.

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A novel trajectory tracking, hovering, and yaw motion control is presented for fully nonlinear model of quadrotors based on integral backstepping. The control law is developed by relating the second time derivatives of linear accelerations to thrust force and roll and pitch moments. A separate control law is then derived for yaw motion. The controller is shown to be asymptotically convergent in presence of modeling uncertainties and constant disturbances. Several simulations and experiments are performed with a quadrotor to verify the controller performance.
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Mehazzem, F., A. L. Nemmour, A. Reama, and H. Benalla. "Nonlinear integral backstepping control for induction motors." In 2011 International Aegean Conference on Electrical Machines and Power Electronics (ACEMP) and Electromotion Joint Conference. IEEE, 2011. http://dx.doi.org/10.1109/acemp.2011.6490619.

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Tian, Congling, Jingwen Wang, Zhaojie Yin, and Guohui Yu. "Integral backstepping based nonlinear control for quadrotor." In 2016 35th Chinese Control Conference (CCC). IEEE, 2016. http://dx.doi.org/10.1109/chicc.2016.7555034.

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Moeini, Amir, Muhammad Awais Rafique, Zhijun Xue, Alan F. Lynch, and Qing Zhao. "Disturbance Observer-Based Integral Backstepping Control for UAVs." In 2020 International Conference on Unmanned Aircraft Systems (ICUAS). IEEE, 2020. http://dx.doi.org/10.1109/icuas48674.2020.9213948.

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Ayari, Mohamed, Mohamed Arbi Ghariani, Mohamed Moez Belhaouane, and Naceur Benhadj Braiek. "Integral backstepping control design for VSC-HVDC systems." In 2014 15th International Conference on Sciences and Techniques of Automatic Control and Computer Engineering (STA). IEEE, 2014. http://dx.doi.org/10.1109/sta.2014.7086782.

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