...Chuanrui Wang; Lei Zhang; Feng Cao This paper deals with the inverse optimal leader-following consensus problem of a class of high-order nonlinear multi-agent systems in strict-feedback form under directed communication topology. By employing the backstepping methodology and introducing an integral...

...Jingwen Huang; Tingting Zhang; Jian-Qiao Sun This paper studies control problems of underactuated mechanical systems with model uncertainties. The control is designed with the method of backstepping. The first-order low-pass filters are used to estimate the unknown quantities and to avoid...

... the desired values of the intermediate state variables for perfect output tracking of a known desired trajectory cannot be predetermined. A novel way of formulating desired compensation concept is proposed and a DCARC backstepping design is developed to overcome the design difficulties associated...

... model. Their weights are adapted in real time and from scratch, which means we do not need the mathematical model of the robot in our control algorithm. All uncertainties are handled by variable-structure control. Backstepping structure allows input efforts to be applied to each subsystem where...

... the backstepping technique with H ∞ control design, an adaptive neural controller is synthesized to attenuate the effect of approximation errors and guarantee an H ∞ tracking performance for the closed-loop system. In this work, the structural property of the system is utilized to synthesize the controller...