A disturbance attenuating adaptive neural network controller for multi-input nonlinear systems
作者： Artemis K. Kostarigka , George A. Rovithakis
DOI: 10.23919/ECC.2007.7068307
关键词: Small set 、 Nonlinear system 、 Dynamical systems theory 、 Zero (complex analysis) 、 Control theory 、 Division by zero 、 Mathematics 、 Tracking error 、 Affine transformation 、 Uniform boundedness
摘要: An adaptive neural network controller for multi-input nonlinear, affine in the control dynamical systems with unknown nonlinearities is designed, capable of attenuating L 2 ,L ∞ external disturbances. In absence disturbances, a uniform ultimate boundedness property tracking error respect to an arbitrarily small set around origin guaranteed, as well all signals closed loop. Possible division by zero avoided use novel resetting procedure, guaranteeing away from certain signals. Simulations illustrate approach.
07068307.pdf 参考文章(35)
Donald A. Sofge, David A. White, Handbook of Intelligent Control: Neural, Fuzzy, and Adaptive Approaches ,(1992)
Madan M. Gupta, Dandina H. Rao, Neuro-Control Systems: Theory and Applications ,(1993)
Yeong-Chan Chang, Bor-Sen Chen, A nonlinear adaptive H/sup /spl infin// tracking control design in robotic systems via neural networks IEEE Transactions on Control Systems and Technology. ,vol. 5, pp. 13- 29 ,(1997) , 10.1109/87.553662
Alberto Isidori, Nonlinear Control Systems II ,(1999)
R. Marino, P. Tomei, Brief Adaptive output feedback tracking with almost disturbance decoupling for a class of nonlinear systems Automatica. ,vol. 36, pp. 1871- 1877 ,(2000) , 10.1016/S0005-1098(00)00109-6
R. Marino, W. Respondek, A.J. van der Schaft, P. Tomei, Nonlinear H ∞ almost disturbance decoupling Systems & Control Letters. ,vol. 23, pp. 159- 168 ,(1994) , 10.1016/0167-6911(94)90001-9
CHEN-CHUNG LIU, FU-CHUANG CHEN, Adaptive control of non-linear continuous-time systems using neural networks—general relative degree and MIMO cases International Journal of Control. ,vol. 58, pp. 317- 335 ,(1993) , 10.1080/00207179308923005
F.L. Lewis, K. Liu, A. Yesildirek, Neural net robot controller with guaranteed tracking performance IEEE Transactions on Neural Networks. ,vol. 6, pp. 703- 715 ,(1995) , 10.1109/72.377975
S. S. GE, C. C. HANG, Direct adaptive neural network control of robots International Journal of Systems Science. ,vol. 27, pp. 533- 542 ,(1996) , 10.1080/00207729608929247
George A. Rovithakis, Stable adaptive neuro-control design via Lyapunov function derivative estimation Automatica. ,vol. 37, pp. 1213- 1221 ,(2001) , 10.1016/S0005-1098(01)00094-2