Adaptive Dynamic Output Feedback Neural Network Control of Uncertain MIMO Nonlinear Systems with Prescribed Performance

被引：146
作者：
Kostarigka, Artemis K. [1 ]
Rovithakis, George A. [1 ]
机构：
[1] Aristotle Univ Thessaloniki, Dept Elect & Comp Engn, Thessaloniki 54124, Greece
来源：
IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS | 2012年 / 23卷 / 01期
关键词：
Neural network adaptive control; output feedback; prescribed performance; TRACKING CONTROL; OBSERVER;
D O I：
10.1109/TNNLS.2011.2178448
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
An adaptive dynamic output feedback neural network controller for a class of multi-input/multi-output affine in the control uncertain nonlinear systems is designed, capable of guaranteeing prescribed performance bounds on the system's output as well as boundedness of all other closed loop signals. It is proved that simply guaranteeing a boundedness property for the states of a specifically defined augmented closed loop system is necessary and sufficient to solve the problem under consideration. The proposed dynamic controller is of switching type. However, its continuity is guaranteed, thus alleviating any issues related to the existence and uniqueness of solutions. Simulations on a planar two-link articulated manipulator illustrate the approach.
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收藏
页码：138 / 149
页数：12
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