Adaptive NN control for discrete-time pure-feedback systems with unknown control direction under amplitude and rate actuator constraints
作者： Weisheng Chen
DOI: 10.1016/J.ISATRA.2009.04.002
关键词:
摘要: … To deal with the problem of amplitude and rate saturation of the control input, we design the following new dynamic control law. (9) u ( k ) = u a tanh ( v ( k ) ) , (10) v ( k ) = v ( k − 1 ) + u r …
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