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
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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
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Constrained adaptive neural control for a class of nonstrict-feedback nonlinear systems with disturbances
Kenan Yong,Mou Chen,Qingxian Wu +2 more
TL;DR: A constrained adaptive neural controller is developed for the nonstrict-feedback nonlinear system with mismatched unknown nonlinear functions and external disturbances and the barrier Lyapunov function is applied to guarantee that full state constraints are not violated.
Journal ArticleDOI
Design of robust speed and slip controllers for a hybrid electromagnetic brake system
TL;DR: In this paper, robust speed and slip control schemes for hybrid brake systems taking into account the brake and vehicle dynamics are developed for uncertain system parameters, and unknown external disturbance conditions, owing to neural networks learning and adaptation abilities.
Journal ArticleDOI
Computationally inexpensive fault tolerant control of uncertain non-linear systems with non-smooth asymmetric input saturation and undetectable actuation failures
TL;DR: In this paper, a robust adaptive and fault-tolerant control scheme was developed for strict feedback systems with parametric uncertainties and asymmetric non-smooth saturation as well as actuation faults.
Journal ArticleDOI
Adaptive Fuzzy Output-Feedback Control for Nonaffine MIMO Nonlinear Systems With Prescribed Performance
TL;DR: An adaptive fuzzy output-feedback control approach for a class of nonaffine multi-input multi-output nonlinear systems with prescribed performance and immeasurable states with remarkable advantage that only one parameter needs to be estimated online.
Journal ArticleDOI
Stable adaptive output feedback controller for a class of uncertain non-linear systems
TL;DR: In this paper, a stable output feedback control scheme for non-affine uncertain non-linear systems with unknown fixed control direction was proposed. But the adaptive rules were derived by using neural networks and derived adaptive rules based on the steepest descent algorithm.
References
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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.