Direct adaptive NN control of a class of nonlinear systems

被引：507

作者：

Ge, SS ^{[1
]}

Wang, C ^{[1
]}

机构：

[1] Natl Univ Singapore, Dept Elect & Comp Engn, Singapore 117576, Singapore

来源：

IEEE TRANSACTIONS ON NEURAL NETWORKS | 2002年 / 13卷 / 01期

关键词：

adaptive control; backstepping; neural control; neural network (NN); uncertain strict-feedback system;

D O I：

10.1109/72.977306

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, direct adaptive neural-network (NN) control is presented for a class of affine nonlinear systems in the strict-feedback form with unknown nonlinearities. By utilizing a special property of the affine term, the developed scheme avoids the controller singularity problem completely. All the signals in the closed loop are guaranteed to be semiglobally uniformly ultimately bounded and the output of the system is proven to converge to a small neighborhood of the desired trajectory. The control performance of the closed-loop system is guaranteed by suitably choosing the design parameters. Simulation results are presented to show the effectiveness of the approach.

引用

页码：214 / 221

页数：8

共 24 条

[1] ADAPTIVELY CONTROLLING NONLINEAR CONTINUOUS-TIME SYSTEMS USING MULTILAYER NEURAL NETWORKS [J].

CHEN, FC ;

LIU, CC .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1994, 39 (06) :1306-1310

[2] ADAPTIVE-CONTROL OF A CLASS OF NONLINEAR DISCRETE-TIME-SYSTEMS USING NEURAL NETWORKS [J].

CHEN, FC ;

KHALIL, HK .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1995, 40 (05) :791-801

[3]

Haykin S., 1999, Neural Networks: A Comprehensive Foundation, V2nd ed

[4]

Ioannou P.A., 1995, Robust Adaptive Control

[5] Design of robust adaptive controllers for nonlinear systems with dynamic uncertainties [J].

Jiang, ZP ;

Praly, L .

AUTOMATICA, 1998, 34 (07) :825-840

[6]

Krstic M., 1995, Nonlinear and adaptive control design

[7]

Lee T.H., 1998, Adaptive Neural Network Control of Robotic Manipulators, V19

[8] Multilayer neural-net robot controller with guaranteed tracking performance [J].

Lewis, FL ;

Yesildirek, A ;

Liu, K .

IEEE TRANSACTIONS ON NEURAL NETWORKS, 1996, 7 (02) :388-399

[9]

NURNBERGER G, 1989, APPROX SPLINE FUNCTI

[10] Adaptive controller design for tracking and disturbance attenuation in parametric strict-feedback nonlinear systems [J].

Pan, ZG ;

Basar, T .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1998, 43 (08) :1066-1083

← 1 2 3 →