IEEE Trans Neural Netw Learn Syst - Adaptive neural control of nonlinear MIMO systems with time-varying output constraints.

Tópicos

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Resumo

In this paper, adaptive neural control is investigated for a class of unknown multiple-input multiple-output nonlinear systems with time-varying asymmetric output constraints. To ensure constraint satisfaction, we employ a system transformation technique to transform the original constrained (in the sense of the output restrictions) system into an equivalent unconstrained one, whose stability is sufficient to solve the output constraint problem. It is shown that output tracking is achieved without violation of the output constraint. More specifically, we can shape the system performance arbitrarily on transient and steady-state stages with the output evolving in predefined time-varying boundaries all the time. A single neural network, whose weights are tuned online, is used in our design to approximate the unknown functions in the system dynamics, while the singularity problem of the control coefficient matrix is avoided without assumption on the prior knowledge of control input's bound. All the signals in the closed-loop system are proved to be semiglobally uniformly ultimately bounded via Lyapunov synthesis. Finally, the merits of the proposed controller are verified in the simulation environment.

Resumo Limpo

paper adapt neural control investig class unknown multipleinput multipleoutput nonlinear system timevari asymmetr output constraint ensur constraint satisfact employ system transform techniqu transform origin constrain sens output restrict system equival unconstrain one whose stabil suffici solv output constraint problem shown output track achiev without violat output constraint specif can shape system perform arbitrarili transient steadyst stage output evolv predefin timevari boundari time singl neural network whose weight tune onlin use design approxim unknown function system dynam singular problem control coeffici matrix avoid without assumpt prior knowledg control input bound signal closedloop system prove semiglob uniform ultim bound via lyapunov synthesi final merit propos control verifi simul environ

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