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
Cooperative adaptive fuzzy control for a class of uncertain non-linear multi-agent systems with time delays
TL;DR: It is shown that all the closed-loop signals are bounded, and all follower nodes asymptotically tracking to the leader can be achieved in the presence of time-delayed perturbations and unknown dead-zone inputs.
Journal ArticleDOI
Adaptive Neural-Based Finite-Time Trajectory Tracking Control for Underactuated Marine Surface Vessels With Position Error Constraint
TL;DR: It is shown that under the proposed control scheme, the tracking errors of the vessel can converge to a small neighborhood around 0 within finite time, while the constraint on the vessel position is never violated during the maneuver, and all closed-loop signals are proved to be bounded.
Journal ArticleDOI
Fault-Tolerant Containment Control of Multiple Unmanned Aerial Vehicles Based on Distributed Sliding-Mode Observer
TL;DR: By using graph theory and Lyapunov-based approach, it is shown that the distributed fault-tolerant containment controller can guarantee all follower UAVs to converge into the convex hull spanned by all leader UAV's.
Journal ArticleDOI
Backstepping-Based Lyapunov Function Construction Using Approximate Dynamic Programming and Sum of Square Techniques
TL;DR: Backstepping with surface dynamic control actually reduces the computation complexity of ADP through constructing one part of the CLF by solving semidefinite programming using SOS and the requirement of nonzero input function for each backstepping step can be relaxed.
Journal ArticleDOI
HONN-Based Adaptive ILC for Pure-Feedback Nonaffine Discrete-Time Systems With Unknown Control Directions
Qing-Yuan Xu,Xiao-Dong Li +1 more
TL;DR: A high-order neural network (HONN)-based adaptive iterative learning control (ILC) approach is presented to address a repetitive tracking control issue, and the implicit function theorem is adopted to cope with the difficulty resulting from the nonaffine structure of control input.
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.