Partial-State-Constrained Adaptive Intelligent Tracking Control of Nonlinear Nonstrict-Feedback Systems with Unmodeled Dynamics and Its Application

Joint Authors

Yang, Dong
Zhao, Yuzhuo
Niu, Ben
Jiang, Xiaoli
Zhao, Ping
Wang, Huanqing

Source

Complexity

Issue

Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-13, 13 p.

Publisher

Hindawi Publishing Corporation

Publication Date

2020-10-31

Country of Publication

Egypt

No. of Pages

13

Main Subjects

Philosophy

Abstract EN

In this paper, an adaptive intelligent control scheme is presented to investigate the problem of adaptive tracking control for a class of nonstrict-feedback nonlinear systems with constrained states and unmodeled dynamics.

By approximating the unknown nonlinear uncertainties, utilizing Barrier Lyapunov functions (BLFs), and designing a dynamic signal to deal with the constrained states and the unmodeled dynamics, respectively, an adaptive neural network (NN) controller is developed in the frame of the backstepping design.

In order to simplify the design process, the nonstrict-feedback form is treated by using the special properties of Gaussian functions.

The proposed adaptive control scheme ensures that all variables involved in the closed-loop system are bounded, the corresponding state constraints are not violated.

Meanwhile, the tracking error converges to a small neighborhood of the origin.

In the end, the proposed intelligent design algorithm is applied to one-link manipulator to demonstrate the effectiveness of the obtained method.

American Psychological Association (APA)

Zhao, Yuzhuo& Niu, Ben& Jiang, Xiaoli& Zhao, Ping& Wang, Huanqing& Yang, Dong. 2020. Partial-State-Constrained Adaptive Intelligent Tracking Control of Nonlinear Nonstrict-Feedback Systems with Unmodeled Dynamics and Its Application. Complexity،Vol. 2020, no. 2020, pp.1-13.
https://search.emarefa.net/detail/BIM-1144769

Modern Language Association (MLA)

Zhao, Yuzhuo…[et al.]. Partial-State-Constrained Adaptive Intelligent Tracking Control of Nonlinear Nonstrict-Feedback Systems with Unmodeled Dynamics and Its Application. Complexity No. 2020 (2020), pp.1-13.
https://search.emarefa.net/detail/BIM-1144769

American Medical Association (AMA)

Zhao, Yuzhuo& Niu, Ben& Jiang, Xiaoli& Zhao, Ping& Wang, Huanqing& Yang, Dong. Partial-State-Constrained Adaptive Intelligent Tracking Control of Nonlinear Nonstrict-Feedback Systems with Unmodeled Dynamics and Its Application. Complexity. 2020. Vol. 2020, no. 2020, pp.1-13.
https://search.emarefa.net/detail/BIM-1144769

Data Type

Journal Articles

Language

English

Notes

Includes bibliographical references

Record ID

BIM-1144769