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
Citations
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Barrier Lyapunov functions for Nussbaum gain adaptive control of full state constrained nonlinear systems
Yan-Jun Liu,Shaocheng Tong +1 more
TL;DR: Two theorems are provided to show that all the signals in the closed-loop system are bounded, the outputs are driven to follow the reference signals and all the states are ensured to remain in the predefined compact sets.
Journal ArticleDOI
The elements of real analysis (2nd edition), by Robert G. Bartle. Pp xv, 480. £10. 1976. SBM 0 471 05464 X (Wiley)
TL;DR: A Glimpse at Set Theory: The Topology of Cartesian Spaces and the Functions of One Variable.
Journal ArticleDOI
Adaptive control-based Barrier Lyapunov Functions for a class of stochastic nonlinear systems with full state constraints
TL;DR: It is proved that all the signals in the closed-loop system are semi-global uniformly ultimately bounded (SGUUB) in probability, the system output is driven to follow the reference signals, and all the states are ensured to remain in the predefined compact sets.
Journal ArticleDOI
Dynamic Surface Control Using Neural Networks for a Class of Uncertain Nonlinear Systems With Input Saturation
TL;DR: The problem of explosion of complexity inherent in the conventional backstepping method is avoided and the ultimately bounded convergence of all closed-loop signals is guaranteed via Lyapunov analysis.
Journal ArticleDOI
Adaptive Neural Network Control of a Marine Vessel With Constraints Using the Asymmetric Barrier Lyapunov Function
Wei He,Zhao Yin,Changyin Sun +2 more
TL;DR: This paper considers the trajectory tracking of a marine surface vessel in the presence of output constraints and uncertainties, and an asymmetric barrier Lyapunov function is employed to cope with the output constraints.
References
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Brief paper: Robust and adaptive variable structure output feedback control of uncertain systems with input nonlinearity
Qinglei Hu,Guangfu Ma,Lihua Xie +2 more
TL;DR: A robust control algorithm for stabilization of a three-axis stabilized flexible spacecraft in the presence of parametric uncertainty, external disturbances and control input nonlinearity/dead-zone is proposed.
Journal ArticleDOI
Hover Control of an UAV With Backstepping Design Including Input Saturations
TL;DR: Simulation results are presented for the hover stabilization of an airship UAV, which are demonstrative of the excellent performance of the proposed controller and illustrate its robustness in face of wind disturbances.
Journal ArticleDOI
Robust Output Feedback Tracking Control for Time-Delay Nonlinear Systems Using Neural Network
TL;DR: The problem of robust output tracking control for a class of time-delay nonlinear systems in the form of triangular structure with unmodeled dynamics is considered and an observer whose gain matrix is scheduled via linear matrix inequality approach is constructed.
Journal ArticleDOI
Nonlinear PID predictive controller
TL;DR: A class of nonlinear PID controllers is derived for nonlinear systems using a nonlinear generalised predictive control (NGPC) approach and it is shown that the closed-loop system under optimal generalisation predictive control with the nonlinear observer is asymptotically stable.
Journal ArticleDOI
Direct adaptive fuzzy control for nonlinear systems with time-varying delays
TL;DR: A novel adaptive fuzzy controller is designed based on the Razumikhin function approach, which guarantees that the system output converges to a small neighborhood of the reference signal and all the signals in the closed-loop system remain bounded.