Journal ArticleDOI
Direct Adaptive Neural Control for a Class of Uncertain Nonaffine Nonlinear Systems Based on Disturbance Observer
Mou Chen,Shuzhi Sam Ge +1 more
TLDR
Both state feedback and output feedback direct adaptive controls can guarantee semiglobal uniform boundedness of the closed-loop system signals as rigorously proved by Lyapunov analysis.Abstract:
In this paper, the direct adaptive neural control is proposed for a class of uncertain nonaffine nonlinear systems with unknown nonsymmetric input saturation. Based on the implicit function theorem and mean value theorem, both state feedback and output feedback direct adaptive controls are developed using neural networks (NNs) and a disturbance observer. A compounded disturbance is defined to take into account of the effect of the unknown external disturbance, the unknown nonsymmetric input saturation, and the approximation error of NN. Then, a disturbance observer is developed to estimate the unknown compounded disturbance, and it is established that the estimate error converges to a compact set if appropriate observer design parameters are chosen. Both state feedback and output feedback direct adaptive controls can guarantee semiglobal uniform boundedness of the closed-loop system signals as rigorously proved by Lyapunov analysis. Numerical simulation results are presented to illustrate the effectiveness of the proposed direct adaptive neural control techniques.read more
Citations
More filters
Journal ArticleDOI
Time-varying asymmetrical BLFs based adaptive finite-time neural control of nonlinear systems with full state constraints
TL;DR: This paper concentrates on asymmetric barrier Lyapunov functions ( ABLFs ) based on finite-time adaptive neural network ( NN ) control methods for a class of nonlinear strict feedback systems with time-varying full state constraints.
Journal ArticleDOI
Adaptive neural networks output feedback dynamic surface control design for MIMO pure-feedback nonlinear systems with hysteresis
TL;DR: The proposed method not only overcomes the problem of "explosion of complexity" inherent in the backstepping control design but also guarantees that all the signals of the closed-loop system are semi-globally uniformly ultimately bounded (SGUUB) and the tracking errors converge to a small neighborhood of the origin.
Journal ArticleDOI
Observer-based hybrid adaptive fuzzy control for affine and nonaffine uncertain nonlinear systems
TL;DR: This paper presents a novel observer-based hybrid adaptive fuzzy controller for affine and nonaffine nonlinear systems with external disturbance that is very simple, efficient and robust and Stability of the proposed method is shown based on Lyapunov theory.
Journal ArticleDOI
Robust estimation-free decentralized prescribed performance control of nonaffine nonlinear large-scale systems
TL;DR: In this article, a low-complexity robust estimation-free decentralized prescribed performance control scheme is proposed and analyzed for nonaffine nonlinear large-scale systems in the presence of unknown nonlinearity and external disturbance.
Journal ArticleDOI
Barrier Lyapunov Functions-Based Adaptive Neural Control for Permanent Magnet Synchronous Motors With Full-State Constraints
TL;DR: A novel adaptive position tracking control approach based on neural networks is presented for permanent magnet synchronous motors with full-state constraints that can guarantee that all closed-loop variables are bounded, and the full state variables do not exceed their constraint spaces.
References
More filters
Journal ArticleDOI
A nonlinear disturbance observer for robotic manipulators
TL;DR: The global exponential stability of the proposed disturbance observer (DO) is guaranteed by selecting design parameters, which depend on the maximum velocity and physical parameters of robotic manipulators.
Journal ArticleDOI
Disturbance observer based control for nonlinear systems
TL;DR: This work presents a general framework for nonlinear systems subject to disturbances using disturbance observer based control (DOBC) techniques and develops a nonlinear disturbance observer for disturbances generated by an exogenous system.
Journal ArticleDOI
Adaptive tracking control of uncertain MIMO nonlinear systems with input constraints
TL;DR: The auxiliary design system is introduced to analyze the effect of input constraints, and its states are used to adaptive tracking control design, and the closed-loop semi-global uniformly ultimate bounded stability is achieved via Lyapunov synthesis.
Journal ArticleDOI
Adaptive neural control of uncertain MIMO nonlinear systems
Shuzhi Sam Ge,Cong Wang +1 more
TL;DR: Adapt neural control schemes are proposed for two classes of uncertain multi-input/multi-output (MIMO) nonlinear systems in block-triangular forms that avoid the controller singularity problem completely without using projection algorithms.
Journal ArticleDOI
Brief paper: Adaptive dynamic surface control of nonlinear systems with unknown dead zone in pure feedback form
Tao Zhang,Shuzhi Sam Ge +1 more
TL;DR: It is proved that the proposed design method is able to guarantee semi-global uniform ultimate boundedness of all signals in the closed-loop system, with arbitrary small tracking error by appropriately choosing design constants.