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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Journal ArticleDOI
Adaptive Neural Control of Uncertain MIMO Nonlinear Systems With State and Input Constraints
TL;DR: The constructed adaptive neural control has been rigorously proved that it can guarantee the semiglobally uniformly ultimate boundedness of all signals in the closed-loop system.
Journal ArticleDOI
Global Asymptotic Model-Free Trajectory-Independent Tracking Control of an Uncertain Marine Vehicle: An Adaptive Universe-Based Fuzzy Control Approach
TL;DR: An innovative retractable fuzzy approximator (RFA) using the RFP is developed to estimate internal nonlinearities and does not require a priori knowledge on the UoD, thereby contributing to a globally adaptive approximation based control approach in conjunction with Lyapunov synthesis
Journal ArticleDOI
Observer-Based Fuzzy Adaptive Output-Feedback Control of Stochastic Nonlinear Multiple Time-Delay Systems
TL;DR: In the controller design procedure, a state observer is first designed, and then an adaptive fuzzy output-feedback control method is presented by combining backstepping design together with fuzzy systems’ universal approximation capability, which guarantees the semi-global boundedness of closed-loop system trajectories in terms of fourth-moment.
Journal ArticleDOI
Composite Intelligent Learning Control of Strict-Feedback Systems With Disturbance
Bin Xu,Fuchun Sun +1 more
TL;DR: This paper addresses the dynamic surface control of uncertain nonlinear systems on the basis of composite intelligent learning and disturbance observer in presence of unknown system nonlinearity and time-varying disturbance and develops a composite law for weights updating.
Journal ArticleDOI
Adaptive Neural Control for Dual-Arm Coordination of Humanoid Robot With Unknown Nonlinearities in Output Mechanism
TL;DR: This paper presents and investigates an adaptive neural control scheme, which takes the unknown output hysteresis and computational efficiency into account, and investigates its application in humanoid robot control.
References
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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.