Abstract:
An approximation-based adaptive neural controller is constructed for uncertain stochastic nonlinear systems in nonstrict-feedback form appearing dead-zone and output cons...Show MoreMetadata
Abstract:
An approximation-based adaptive neural controller is constructed for uncertain stochastic nonlinear systems in nonstrict-feedback form appearing dead-zone and output constraint. Neural networks (NNs) are directly utilized to approximate the unknown nonlinear functions existing in systems. A barrier Lyapunov function is introduced to ensure that the trajectory of output is limited within a predetermined range. By integrating NNs into the backstepping technique, an adaptive neural controller is designed to guarantee all variables existing in the considered closed-loop system are semi-globally uniformly ultimately bounded, and by appropriately tuning several design parameters online, the tracking error can be converged to a small neighborhood of the origin. Simulations on a numerical example are given to demonstrate the effectiveness of the method proposed in this paper.
Published in: IEEE Transactions on Systems, Man, and Cybernetics: Systems ( Volume: 47, Issue: 8, August 2017)