Barrier Lypunov functions-based nonsingular fixed-time switching control for strict-feedback nonlinear dynamics with full state constraints

This work proposes a nonsingular adaptive fixed-time switching control method for a class of strict-feedback nonlinear dynamics subject to full state constraints. The peculiarity of this design lies in overcoming the singularity issue that typically appears in the existing backstepping-based fixed-time control methods caused by the iterative...

Backstepping Control of Heavy Lift Operations with Crane Vessels

Offshore structures with large mass are installed and removed by heavy lift vessels. During offshore constructions, two safety-critical interconnected operations take place, the dynamic positioning of the vessel and the lifting of the heavy structure by an immovable boom crane on the vessel. Existing studies on offshore boom crane control...

A Hybrid Sensor Based Backstepping Control Approach with its Application to Fault-Tolerant Flight Control

Recently, an incremental type sensor based backstepping (SBB) control approach, based on singular perturbation theory and Tikhonov’s theorem, has been proposed. This Lyapunov function based method uses measurements of control variables and less model knowledge, and it is not susceptible to the model uncertainty caused by fault scenarios. In this...