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Observer-based adaptive backstepping control for Mimo nonlinear systems with unknown hysteresis: a nonlinear gain feedback approach

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Abstract

In this article, an adaptive neural network (NN) control problem is studied for nonstrict-feedback multi-input multi-output (MIMO) nonlinear systems with unmeasurable states and unknown hysteresis. Firstly, to estimate the unmeasurable states, a NN state observer is constructed. Additionally, the unknown nonlinear terms are online approximated by using radial basis function-neural networks (RBF-NNs). And then, the complexity problem is addressed by using the dynamic surface control (DSC), which is easy to overcome the problem of repeated differentiations for virtual control signals. Furthermore, a nonlinear gain feedback function is introduced into the backstepping design procedure to improve the dynamic performance of the closed-loop system. Meanwhile, to satisfy the practical engineering application, a prescribed performance control (PPC) technique is implemented to guarantee the tracking error can converge to a preassigned area. By using the proposed control scheme, all closed-loop signals are semi-global uniformly ultimately bounded (SGUUB). At last, the preponderance and usefulness of the proposed controller are indicated by simulation results.

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No data was used for the research described in the article.

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Acknowledgements

This work was supported by the National Natural Science Foundation of China under Grant (52101346), (62122046), (61973204) and supported by the Shanghai Committe of Science and Technology, China Grant (23010500100).

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Authors and Affiliations

  1. School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, 200444, China

    Xiang Liu, Yiqi Shi, Nailong Wu & Yueying Wang

  2. College of Information Sciences and Technology, Donghua University, Shanghai, 201620, China

    Nailong Wu

  3. School of Information Science and Engineering, East China University of Science and Technology, Shanghai, 200237, China

    Huaicheng Yan

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  1. Xiang Liu
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Correspondence to Nailong Wu.

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Liu, X., Shi, Y., Wu, N. et al. Observer-based adaptive backstepping control for Mimo nonlinear systems with unknown hysteresis: a nonlinear gain feedback approach. Neural Comput & Applic 35, 23265–23281 (2023). https://doi.org/10.1007/s00521-023-08896-0

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