Abstract
This paper focuses on the design of passive controller with adaptive neural compensation for uncertain strict-feedback nonlinear systems with input-delay. For local linearization model, the delay-dependent γ-passive control is presented. Then, γ-passive control law of local linear model is decomposed as the virtual control of sub-systems by backstepping. In order to compensate the nonlinear dynamics, the adaptive neural model is proposed. The NN weights are turned on-line by Lyapunov stability theory with no prior training. The design procedure of whole systems is a combination of local γ-passive control and adaptive neural network compensation techniques.
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© 2006 Springer-Verlag Berlin Heidelberg
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Yu, Z., Zhao, X., Peng, X. (2006). Adaptive Neural Compensation Control for Input-Delay Nonlinear Systems by Passive Approach. In: Wang, J., Yi, Z., Zurada, J.M., Lu, BL., Yin, H. (eds) Advances in Neural Networks - ISNN 2006. ISNN 2006. Lecture Notes in Computer Science, vol 3972. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11760023_127
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DOI: https://doi.org/10.1007/11760023_127
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-34437-7
Online ISBN: 978-3-540-34438-4
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