IEEE Trans Neural Netw Learn Syst - Dynamic Surface Control Using Neural Networks for a Class of Uncertain Nonlinear Systems With Input Saturation.

Tópicos

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Resumo

In this paper, a dynamic surface control (DSC) scheme is proposed for a class of uncertain strict-feedback nonlinear systems in the presence of input saturation and unknown external disturbance. The radial basis function neural network (RBFNN) is employed to approximate the unknown system function. To efficiently tackle the unknown external disturbance, a nonlinear disturbance observer (NDO) is developed. The developed NDO can relax the known boundary requirement of the unknown disturbance and can guarantee the disturbance estimation error converge to a bounded compact set. Using NDO and RBFNN, the DSC scheme is developed for uncertain nonlinear systems based on a backstepping method. Using a DSC technique, the problem of explosion of complexity inherent in the conventional backstepping method is avoided, which is specially important for designs using neural network approximations. Under the proposed DSC scheme, the ultimately bounded convergence of all closed-loop signals is guaranteed via Lyapunov analysis. Simulation results are given to show the effectiveness of the proposed DSC design using NDO and RBFNN.

Resumo Limpo

paper dynam surfac control dsc scheme propos class uncertain strictfeedback nonlinear system presenc input satur unknown extern disturb radial basi function neural network rbfnn employ approxim unknown system function effici tackl unknown extern disturb nonlinear disturb observ ndo develop develop ndo can relax known boundari requir unknown disturb can guarante disturb estim error converg bound compact set use ndo rbfnn dsc scheme develop uncertain nonlinear system base backstep method use dsc techniqu problem explos complex inher convent backstep method avoid special import design use neural network approxim propos dsc scheme ultim bound converg closedloop signal guarante via lyapunov analysi simul result given show effect propos dsc design use ndo rbfnn

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