一类具有输入时滞和饱和的非线性系统的自适应神经跟踪控制

IF 3.2 Q2 AUTOMATION & CONTROL SYSTEMS Systems Science & Control Engineering Pub Date : 2021-05-03 DOI:10.1080/21642583.2020.1833786
Yadong Li, Bing Chen
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引用次数: 3

摘要

针对一类具有输入延迟和饱和的非严格反馈非线性系统,研究了其跟踪控制问题。构造了一个辅助系统来处理输入延迟引起的控制设计困难。此外,采用双曲正切函数逼近非光滑饱和函数来实现控制器的设计。利用径向基函数神经网络对反步控制设计中产生的未知非线性函数进行逼近。然后,借助于backstepping方法,提出了一种自适应神经控制方案。李雅普诺夫稳定性理论证明了跟踪误差收敛于原点的一个小邻域,其他闭环信号是有界的。最后通过仿真实例验证了该跟踪控制方案的有效性。
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Adaptive neural tracking control for a class of nonlinear systems with input delay and saturation
For a class of non-strict-feedback nonlinear systems with input delay and saturation, the tracking control problem is addressed in this paper. An auxiliary system is constructed to handle the difficulty in control design caused by input delay. Moreover, hyperbolic tangent function is used to approximate the non-smooth saturation function to achieve controller design. The unknown nonlinear functions generated in backstepping control design are approximated by radial basis function neural networks. And then, with the help of backstepping approach, an adaptive neural control scheme is proposed. It is proved by Lyapunov stability theory that the tracking errors converge to a small neighbourhood of the origin and the other closed-loop signals are bounded. At last, a simulation example is able to verify the validity of this tracking control scheme.
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来源期刊
Systems Science & Control Engineering
Systems Science & Control Engineering AUTOMATION & CONTROL SYSTEMS-
CiteScore
9.50
自引率
2.40%
发文量
70
审稿时长
29 weeks
期刊介绍: Systems Science & Control Engineering is a world-leading fully open access journal covering all areas of theoretical and applied systems science and control engineering. The journal encourages the submission of original articles, reviews and short communications in areas including, but not limited to: · artificial intelligence · complex systems · complex networks · control theory · control applications · cybernetics · dynamical systems theory · operations research · systems biology · systems dynamics · systems ecology · systems engineering · systems psychology · systems theory
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