Adaptive Neural Safe Tracking Control Design for a Class of Uncertain Nonlinear Systems With Output Constraints and Disturbances.
IEEE Trans Cybern
; 52(11): 12571-12582, 2022 Nov.
Article
em En
| MEDLINE
| ID: mdl-34166211
ABSTRACT
In this article, an adaptive neural safe tracking control scheme is studied for a class of uncertain nonlinear systems with output constraints and unknown external disturbances. To allow the output to stay in the desired output constraints, a boundary protection approach is developed and utilized in the output constrained problem. Since the generated output constraint trajectory is piecewise differentiable, a dynamic surface method is utilized to handle it. For the purpose of approximating the system uncertainties, a radial basis function neural network (RBFNN) is adopted. Under the output of the RBFNN, the disturbance observer technology is employed to estimate the unknown compound disturbances of the system. Finally, the Lyapunov function method is utilized to analyze the convergence of the tracking error. Taking a two-link manipulator system, as an example, the simulation results are presented to illustrate the feasibility of the proposed control scheme.
Texto completo:
1
Coleções:
01-internacional
Base de dados:
MEDLINE
Assunto principal:
Redes Neurais de Computação
/
Dinâmica não Linear
Tipo de estudo:
Prognostic_studies
Idioma:
En
Revista:
IEEE Trans Cybern
Ano de publicação:
2022
Tipo de documento:
Article