Output feedback tracking control for nonlinear time-delay systems with tracking errors and input constraints

被引：40

作者：

Hua, Changchun ^{[1
]}

Liu, Guopin ^{[1
]}

Zhang, Liuliu ^{[1
]}

Guan, Xinping ^{[2
]}

机构：

[1] Yanshan Univ, Inst Elect Engn, Qinhuangdao 066004, Peoples R China

[2] Shanghai Jiao Tong Univ, Dept Automat, Shanghai 200030, Peoples R China

来源：

NEUROCOMPUTING | 2016年 / 173卷

基金：

国家教育部博士点专项基金资助; 中国国家自然科学基金;

关键词：

Tracking control; Time-delay systems; Input constraint; Error constraint; RBF neural network; BACKSTEPPING CONTROL; OBSERVER;

D O I：

10.1016/j.neucom.2015.08.026

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

The adaptive tracking control problem is considered for a class of nonlinear time-delay systems in the presence of input and tracking error constraint. A reduced-order observer is designed to estimate the unmeasured state variables at first. Then, a constraint variable is utilized to ensure that the tracking error is within the prescribed boundaries. An auxiliary state is introduced to deal with the input saturation constraint. With the time-delay functions unavailable, we employ adaptive RBF neural network systems to approximate unknown functions. It is proved that the resulting closed-loop system is stable in the sense of semiglobal uniformly ultimately boundedness. The simulations are performed and the results demonstrate the effectiveness of the proposed approach. (C) 2015 Elsevier B.V. All rights reserved.

引用

页码：751 / 758

页数：8

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