Adaptive NN control for uncertain pure-feedback nonlinear systems with state constraints subject to unknown disturbances

Adaptive NN control for uncertain pure-feedback nonlinear systems with state constraints subject to unknown disturbances
Title:
Adaptive NN control for uncertain pure-feedback nonlinear systems with state constraints subject to unknown disturbances
Other Titles:
2015 IEEE 54th Annual Conference on Decision and Control (CDC)
DOI:
10.1109/CDC.2015.7403416
Publication Date:
15 December 2015
Citation:
Z. L. Tang, S. S. Ge and K. P. Tee, "Adaptive NN control for uncertain pure-feedback nonlinear systems with state constraints subject to unknown disturbances," 2015 54th IEEE Conference on Decision and Control (CDC), Osaka, 2015, pp. 7572-7577. doi: 10.1109/CDC.2015.7403416
Abstract:
This paper addresses the output tracking control for a class of non-affine nonlinear systems in pure-feedback form with unknown dynamics subject to full state constraints and unknown external time-varying bounded disturbances. This problem is challenging due to the non-affine structure coupling with the constraints on states and external disturbances. To overcome the problem, the mean value theorem is applied to deduce the variables with affine appearance in the system dynamics, and the integral Barrier Lyapunov Functionals (iBLFs) are utilized in the recursive backstepping design to handle the unknown deduced control gains and state constraints together, and adapting parameters are developed to estimate the unknown bounds on neural networks (NNs) reconstruction errors and external disturbances. Through Lyapunov synthesis, all signals in the closed-loop system are proved to be semi-globally uniformly ultimately bounded (SGUUB), and all state constraints are guaranteed provided that the states are initially in the constrained regions, and tracking errors are ensured to converge to an adjustable neighborhood of desired trajectory. An application to Van der Pol oscillator with state constraints illustrates the performance of proposed control.
License type:
PublisherCopyrights
Funding Info:
Description:
(c) 2015 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.
ISBN:
978-1-4799-7886-1
978-1-4799-7884-7
978-1-4799-7885-4
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