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.

引用

页数：13

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