UM
Neural networks-based adaptive control for nonlinear state constrained systems with input delay
Li,Da Peng1; Liu,Yan Jun2; Tong,Shaocheng2; Philip Chen,C. L.3,4; Li,Dong Juan5
2019
Source PublicationIEEE Transactions on Cybernetics
ISSN2168-2267
Volume49Issue:4Pages:1249-1258
AbstractThis paper addresses the problem of adaptive tracking control for a class of strict-feedback nonlinear state constrained systems with input delay. To alleviate the major challenges caused by the appearances of full state constraints and input delay, an appropriate barrier Lyapunov function and an opportune backstepping design are used to avoid the constraint violation, and the Pade approximation and an intermediate variable are employed to eliminate the effect of the input delay. Neural networks are employed to estimate unknown functions in the design procedure. It is proven that the closed-loop signals are semiglobal uniformly ultimately bounded, and the tracking error converges to a compact set of the origin, as well as the states remain within a bounded interval. The simulation studies are given to illustrate the effectiveness of the proposed control strategy in this paper.
KeywordAdaptive control Backstepping Barrier Lyapunov functions (BLFs) Input-delay systems Neural networks (NNs)
DOI10.1109/TCYB.2018.2799683
URLView the original
Language英语
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Cited Times [WOS]:114   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionUniversity of Macau
Affiliation1.School of Electrical Engineering,Liaoning University of Technology,Jinzhou,121001,China
2.College of Science,Liaoning University of Technology,Jinzhou,121001,China
3.Faculty of Science and Technology,University of Macau,Macau,China
4.Navigation College,Dalian Maritime University,Dalian,116026,China
5.School of Chemical and Environmental Engineering,Liaoning University of Technology,Jinzhou,121001,China
Recommended Citation
GB/T 7714
Li,Da Peng,Liu,Yan Jun,Tong,Shaocheng,et al. Neural networks-based adaptive control for nonlinear state constrained systems with input delay[J]. IEEE Transactions on Cybernetics,2019,49(4):1249-1258.
APA Li,Da Peng,Liu,Yan Jun,Tong,Shaocheng,Philip Chen,C. L.,&Li,Dong Juan.(2019).Neural networks-based adaptive control for nonlinear state constrained systems with input delay.IEEE Transactions on Cybernetics,49(4),1249-1258.
MLA Li,Da Peng,et al."Neural networks-based adaptive control for nonlinear state constrained systems with input delay".IEEE Transactions on Cybernetics 49.4(2019):1249-1258.
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