Adaptive Neural Control of a 2DOF Helicopter with Input Saturation and Time-Varying Output Constraint

被引：7
作者：
Wu, Bing [1 ]
Wu, Jiale [2 ]
Zhang, Jian [2 ]
Tang, Guojian [1 ]
Zhao, Zhijia [2 ]
机构：
[1] Natl Univ Def Technol, Coll Aerosp Sci & Engn, Changsha 410073, Peoples R China
[2] Guangzhou Univ, Sch Mech & Elect Engn, Guangzhou 510006, Peoples R China
来源：
ACTUATORS | 2022年 / 11卷 / 11期
关键词：
adaptive neural network control; 2DOF helicopter; input saturation; time-varying output constraint; NONLINEAR-SYSTEMS;
D O I：
10.3390/act11110336
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
An adaptive neural control for uncertain 2DOF helicopter systems with input saturation and time-varying output constraints is provided. A radial basis function neural network is used to estimate the uncertainty terms present in the system. The saturation error and the external disturbance are considered as a composite disturbance, and an adaptive auxiliary parameter is introduced to compensate it. An asymmetric barrier Lyapunov function is employed to address the constraint violation of the system output. The closed-loop stability of the system is then demonstrated by Lyapunov theory analysis. Simulation results demonstrate the effectiveness of the control strategy.
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收藏
页数：13
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