Adaptive neural tracking control of pure-feedback nonlinear systems with unknown gain signs and unmodeled dynamics

被引：68

作者：

Zhang, Tianping ^{[1
]}

Shi, Xiaocheng ^{[1
]}

Zhu, Qing ^{[1
]}

Yang, Yuequan ^{[1
]}

机构：

[1] Yangzhou Univ, Dept Automat, Coll Informat Engn, Yangzhou 225127, Peoples R China

来源：

NEUROCOMPUTING | 2013年 / 121卷

基金：

中国国家自然科学基金;

关键词：

Adaptive control; Neural networks; Pure-feedback nonlinear systems; Unmodeled dynamics; Nussbaum function; DELAY SYSTEMS; ROBUST-CONTROL; DEAD-ZONES; DESIGN;

D O I：

10.1016/j.neucom.2013.04.023

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

In this paper, robust adaptive control is proposed for a class of pure-feedback nonlinear systems with unmodeled dynamics and unknown gain signs using radial basis function neural networks (RBFNNs). Dynamic uncertainties are dealt with using a dynamic signal. The unknown virtual gain signs are solved using the Nussbaum functions. Using mean value theorem and Youngs inequality, only one learning parameter needs to be tuned online at each step of recursion. It is proved that the proposed design scheme can guarantee semi-global uniform ultimate boundedness (SGUUB) of all signals in the closed-loop system. Simulation results demonstrate the effectiveness of the proposed approach. (C) 2013 Elsevier B.V. All rights reserved.

引用

页码：290 / 297

页数：8

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