Global neuro-adaptive control of nonstrict-feedback systems with unknown control directions and multiple time delays

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题名:	Global neuro-adaptive control of nonstrict-feedback systems with unknown control directions and multiple time delays
作者:	Huang, Jeng-Tze
贡献者:	機電所
关键词:	UNCERTAIN NONLINEAR-SYSTEMS TRACKING CONTROL PRESCRIBED PERFORMANCE APPROXIMATION SATURATION
日期:	2021-01
上传时间:	2021-04-24 15:21:54 (UTC+8)
摘要:	Issues of control of nonstrict-feedback systems with unknown control directions and multiple time delays are investigated. The proposed design consists of three major parts, a nominal minimal-learning parameter (MLP) based adaptive neural controller, a supervisory robust controller for pulling back the escaped transients, and the dynamic surface control (DSC) for solving the explosion of complexity and algebraic-loop problems simultaneously. Meanwhile, the Nussbaum gain function (NGF) and the Lyapunov-Krasovskii functional (LKF) are included for handling the unknown control directions and the time delays, respectively. In particular, global instead of the semi-global tracking stability is achieved. Simulation results are provided to show the effectiveness of the proposed approach. (C) 2020 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.
關聯:	JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS 卷冊: 358 期: 1 頁數: 533-554
显示于类别:	[機械工程系暨機械工程學系數位機電研究所] 期刊論文

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