Adaptive NN Tracking Control of Uncertain Nonlinear Discrete-Time Systems With Nonaffine Dead-Zone Input

Abstract

In the paper, an adaptive tracking control design is studied for a class of nonlinear discrete-time systems with dead-zone input. The considered systems are of the nonaffine pure-feedback form and the dead-zone input appears nonlinearly in the systems. The contributions of the paper are that: 1) it is for the first time to investigate the control problem for this class of discrete-time systems with dead-zone; 2) there are major difficulties for stabilizing such systems and in order to overcome the difficulties, the systems are transformed into an n-step-ahead predictor but nonaffine function is still existent; and 3) an adaptive compensative term is constructed to compensate for the parameters of the dead-zone. The neural networks are used to approximate the unknown functions in the transformed systems. Based on the Lyapunov theory, it is proven that all the signals in the closed-loop system are semi-globally uniformly ultimately bounded and the tracking error converges to a small neighborhood of zero. Two simulation examples are provided to verify the effectiveness of the control approach in the paper.