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Robust backstepping control of nonlinear systems using neural networks
Abstract
A controller is proposed for the robust backstepping control of a class of general nonlinear systems using neural networks (NNs). A tuning scheme is proposed which can guarantee the boundedness of tracking error and weight updates. Compared with adaptive backstepping control schemes, we do not require the unknown parameters to be linear parametrizable. No regression matrices are needed, so no preliminary dynamical analysis is needed. One salient feature of our NN approach is that there is no need for the off-line learning phase. Three nonlinear systems, including a one-link robot, an induction motor, and a rigid-link flexible-joint robot, were used to demonstrate the effectiveness of the proposed scheme.
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Cites
Multilayer feedforward networks are universal approximators
Hornik, K., Stinchcombe, M., & White, H. (1989) · Neural Networks · doi:10.1016/0893-6080(89)90020-8 · Cited by 21,728
Approximation by superpositions of a sigmoidal function
Cybenko, G. (1989) · Mathematics of Control, Signals, and Systems · doi:10.1007/bf02551274 · Cited by 13,883
Cited by
Farrell, J. A., Polycarpou, M., Sharma, M., & Dong, W. (2009) · IEEE Transactions on Automatic Control · doi:10.1109/tac.2009.2015562 · Cited by 1,257
Adaptive Neural Control of Uncertain MIMO Nonlinear Systems
Ge, S. S., & Wang, C. (2004) · IEEE Transactions on Neural Networks · doi:10.1109/tnn.2004.826130 · Cited by 971
Robust and Adaptive Backstepping Control for Nonlinear Systems Using RBF Neural Networks
Li, Y., Qiang, S., Zhuang, X., & Kaynak, O. (2004) · IEEE Transactions on Neural Networks · doi:10.1109/tnn.2004.826215 · Cited by 455
Adaptive Fuzzy Practical Fixed-Time Tracking Control of Nonlinear Systems
Chen, M., Wang, H., & Liu, X. (2021) · IEEE Transactions on Fuzzy Systems · doi:10.1109/tfuzz.2019.2959972 · Cited by 405
Metadata
- Authors
- Kwan, C., & Lewis, F. L.
- Venue
- IEEE Transactions on Systems, Man, and Cybernetics - Part A: Systems and Humans
- Published
- 2000
- Volume
- 30
- Issue
- 6
- Pages
- 753-766
- ISSN
- 1083-4427 (ISSN-L)
- OpenAlex
- W2154088208
- Cited by
- 459
- References
- 2
- FWCI
- 16.05
- Type
- journal article
- Language
- en
- Open access
- closed
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- Kwan, C., & Lewis, F. L. (2000). Robust backstepping control of nonlinear systems using neural networks. IEEE Transactions on Systems, Man, and Cybernetics - Part A: Systems and Humans. https://doi.org/10.1109/3468.895898
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
