UM
Adaptive Neural Control of Uncertain MIMO Nonlinear Systems With State and Input Constraints
Chen, Ziting; Li, Zhijun; Chen, C. L. Philip
2017-06
Source PublicationIEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS
ISSN2162-237X
Volume28Issue:6Pages:1318-1330
AbstractAn adaptive neural control strategy for multiple input multiple output nonlinear systems with various constraints is presented in this paper. To deal with the nonsymmetric input nonlinearity and the constrained states, the proposed adaptive neural control is combined with the backstepping method, radial basis function neural network, barrier Lyapunov function (BLF), and disturbance observer. By ensuring the boundedness of the BLF of the closed-loop system, it is demonstrated that the output tracking is achieved with all states remaining in the constraint sets and the general assumption on nonsingularity of unknown control coefficient matrices has been eliminated. The constructed adaptive neural control has been rigorously proved that it can guarantee the semiglobally uniformly ultimate boundedness of all signals in the closed-loop system. Finally, the simulation studies on a 2-DOF robotic manipulator system indicate that the designed adaptive control is effective.
KeywordBarrier Lyapunov function (BLF) disturbance observer neural networks (NNs) state/input saturation constraints
DOI10.1109/TNNLS.2016.2538779
URLView the original
Indexed BySCI
Language英语
WOS Research AreaComputer Science ; Engineering
WOS SubjectComputer Science, Artificial Intelligence ; Computer Science, Hardware & Architecture ; Computer Science, Theory & Methods ; Engineering, Electrical & Electronic
WOS IDWOS:000401982100006
PublisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
The Source to ArticleWOS
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Cited Times [WOS]:57   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionUniversity of Macau
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GB/T 7714
Chen, Ziting,Li, Zhijun,Chen, C. L. Philip. Adaptive Neural Control of Uncertain MIMO Nonlinear Systems With State and Input Constraints[J]. IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS,2017,28(6):1318-1330.
APA Chen, Ziting,Li, Zhijun,&Chen, C. L. Philip.(2017).Adaptive Neural Control of Uncertain MIMO Nonlinear Systems With State and Input Constraints.IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS,28(6),1318-1330.
MLA Chen, Ziting,et al."Adaptive Neural Control of Uncertain MIMO Nonlinear Systems With State and Input Constraints".IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS 28.6(2017):1318-1330.
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