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Robust Adaptive Neural Network Control for a Class of Uncertain MIMO Nonlinear Systems With Input Nonlinearities
Abstract
In this paper, robust adaptive neural network (NN) control is investigated for a general class of uncertain multiple-input-multiple-output (MIMO) nonlinear systems with unknown control coefficient matrices and input nonlinearities. For nonsymmetric input nonlinearities of saturation and deadzone, variable structure control (VSC) in combination with backstepping and Lyapunov synthesis is proposed for adaptive NN control design with guaranteed stability. In the proposed adaptive NN control, the usual assumption on nonsingularity of NN approximation for unknown control coefficient matrices and boundary assumption between NN approximation error and control input have been eliminated. Command filters are presented to implement physical constraints on the virtual control laws, then the tedious analytic computations of time derivatives of virtual control laws are canceled. It is proved that the proposed robust backstepping control is able to guarantee semiglobal uniform ultimate boundedness of all signals in the closed-loop system. Finally, simulation results are presented to illustrate the effectiveness of the proposed adaptive NN control.
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Cited by
Chen, M., Tao, G., & Jiang, B. (2015) · IEEE Transactions on Neural Networks and Learning Systems · doi:10.1109/tnnls.2014.2360933 · Cited by 508
Self-citationNeural Networks-Based Adaptive Control for Nonlinear State Constrained Systems With Input Delay
Li, D.-P., Liu, Y.-J., Tong, S., Chen, C. L. P., & Li, D.-J. (2019) · IEEE Transactions on Cybernetics · doi:10.1109/tcyb.2018.2799683 · Cited by 382
Adaptive Neural Control of Uncertain Nonlinear Systems Using Disturbance Observer
Chen, M., Shao, S.-Y., & Jiang, B. (2017) · IEEE Transactions on Cybernetics · doi:10.1109/tcyb.2017.2667680 · Cited by 292
Self-citationLi, D.-P., Li, D.-J., Liu, Y.-J., Tong, S., & Chen, C. L. P. (2017) · IEEE Transactions on Cybernetics · doi:10.1109/tcyb.2017.2707178 · Cited by 148
Adaptive Neural Control of MIMO Nonstrict-Feedback Nonlinear Systems With Time Delay
Zhao, X., Yang, H., Karimi, H. R., & Zhu, Y. (2016) · IEEE Transactions on Cybernetics · doi:10.1109/tcyb.2015.2441292 · Cited by 130
Metadata
- Authors
- Chen, M., Ge, S. S., & How, B.
- Venue
- IEEE Transactions on Neural Networks
- Published
- 2010-05
- Volume
- 21
- Issue
- 5
- Pages
- 796-812
- ISSN
- 1045-9227 (ISSN-L)
- 1941-0093
- OpenAlex
- W2114847465
- Cited by
- 732
- References
- 0
- FWCI
- 48.86
- Type
- journal article
- Language
- en
- Open access
- closed
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- Chen, M., Ge, S. S., & How, B. (2010). Robust Adaptive Neural Network Control for a Class of Uncertain MIMO Nonlinear Systems With Input Nonlinearities. IEEE Transactions on Neural Networks. https://doi.org/10.1109/tnn.2010.2042611
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