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Adaptive Optimal Discrete-Time Output-Feedback Using an Internal Model Principle and Adaptive Dynamic Programming 被引量:1
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作者 Zhongyang Wang Youqing Wang Zdzisław Kowalczuk 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2024年第1期131-140,共10页
In order to address the output feedback issue for linear discrete-time systems, this work suggests a brand-new adaptive dynamic programming(ADP) technique based on the internal model principle(IMP). The proposed metho... In order to address the output feedback issue for linear discrete-time systems, this work suggests a brand-new adaptive dynamic programming(ADP) technique based on the internal model principle(IMP). The proposed method, termed as IMP-ADP, does not require complete state feedback-merely the measurement of input and output data. More specifically, based on the IMP, the output control problem can first be converted into a stabilization problem. We then design an observer to reproduce the full state of the system by measuring the inputs and outputs. Moreover, this technique includes both a policy iteration algorithm and a value iteration algorithm to determine the optimal feedback gain without using a dynamic system model. It is important that with this concept one does not need to solve the regulator equation. Finally, this control method was tested on an inverter system of grid-connected LCLs to demonstrate that the proposed method provides the desired performance in terms of both tracking and disturbance rejection. 展开更多
关键词 adaptive dynamic programming(ADP) internal model principle(IMP) output feedback problem policy iteration(PI) value iteration(VI)
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Performance enhancement of a viscoelastic bistable energy harvester using time-delayed feedback control
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作者 黄美玲 杨勇歌 刘洋 《Chinese Physics B》 SCIE EI CAS CSCD 2024年第6期142-154,共13页
This paper focuses on the stochastic analysis of a viscoelastic bistable energy harvesting system under colored noise and harmonic excitation, and adopts the time-delayed feedback control to improve its harvesting eff... This paper focuses on the stochastic analysis of a viscoelastic bistable energy harvesting system under colored noise and harmonic excitation, and adopts the time-delayed feedback control to improve its harvesting efficiency. Firstly, to obtain the dimensionless governing equation of the system, the original bistable system is approximated as a system without viscoelastic term by using the stochastic averaging method of energy envelope, and then is further decoupled to derive an equivalent system. The credibility of the proposed method is validated by contrasting the consistency between the numerical and the analytical results of the equivalent system under different noise conditions. The influence of system parameters on average output power is analyzed, and the control effect of the time-delayed feedback control on system performance is compared. The output performance of the system is improved with the occurrence of stochastic resonance(SR). Therefore, the signal-to-noise ratio expression for measuring SR is derived, and the dependence of its SR behavior on different parameters is explored. 展开更多
关键词 energy harvesting BISTABILITY stochastic averaging method stochastic resonance time-delayed feedback control
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Adaptive recurrent neural network for uncertainties estimation in feedback control system 被引量:1
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作者 Adel Merabet Saikrishna Kanukollu +1 位作者 Ahmed Al-Durra Ehab F.El-Saadany 《Journal of Automation and Intelligence》 2023年第3期119-129,共11页
In this paper,a recurrent neural network(RNN)is used to estimate uncertainties and implement feedback control for nonlinear dynamic systems.The neural network approximates the uncertainties related to unmodeled dynami... In this paper,a recurrent neural network(RNN)is used to estimate uncertainties and implement feedback control for nonlinear dynamic systems.The neural network approximates the uncertainties related to unmodeled dynamics,parametric variations,and external disturbances.The RNN has a single hidden layer and uses the tracking error and the output as feedback to estimate the disturbance.The RNN weights are online adapted,and the adaptation laws are developed from the stability analysis of the controlled system with the RNN estimation.The used activation function,at the hidden layer,has an expression that simplifies the adaptation laws from the stability analysis.It is found that the adaptive RNN enhances the tracking performance of the feedback controller at the transient and steady state responses.The proposed RNN based feedback control is applied to a DC–DC converter for current regulation.Simulation and experimental results are provided to show its effectiveness.Compared to the feedforward neural network and the conventional feedback control,the RNN based feedback control provides good tracking performance. 展开更多
关键词 feedback control adaptive control Recurrent neural network Uncertainties estimation
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Adaptive output feedback control for nonlinear time-delay systems using neural network 被引量:9
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作者 Weisheng CHEN Junmin LI 《控制理论与应用(英文版)》 EI 2006年第4期313-320,共8页
This paper extends the adaptive neural network (NN) control approaches to a class of unknown output feedback nonlinear time-delay systems. An adaptive output feedback NN tracking controller is designed by backsteppi... This paper extends the adaptive neural network (NN) control approaches to a class of unknown output feedback nonlinear time-delay systems. An adaptive output feedback NN tracking controller is designed by backstepping technique. NNs are used to approximate unknown functions dependent on time delay, Delay-dependent filters are introduced for state estimation. The domination method is used to deal with the smooth time-delay basis functions. The adaptive bounding technique is employed to estimate the upper bound of the NN approximation errors. Based on Lyapunov- Krasovskii functional, the semi-global uniform ultimate boundedness of all the signals in the closed-loop system is proved, The feasibility is investigated by two illustrative simulation examples. 展开更多
关键词 Time delay Nonlinear system Neural network BACKSTEPPING Output feedback adaptive control
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Adaptive Output-feedback Regulation for Nonlinear Delayed Systems Using Neural Network 被引量:9
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作者 Wei-Sheng Chen Jun-Min Li Department of Applied Mathematics,Xidian University,Xi′an 710071,PRC 《International Journal of Automation and computing》 EI 2008年第1期103-108,共6页
A novel adaptive neural network (NN) output-feedback regulation algorithm for a class of nonlinear time-varying timedelay systems is proposed. Both the designed observer and controller are independent of time delay.... A novel adaptive neural network (NN) output-feedback regulation algorithm for a class of nonlinear time-varying timedelay systems is proposed. Both the designed observer and controller are independent of time delay. Different from the existing results, where the upper bounding functions of time-delay terms are assumed to be known, we only use an NN to compensate for all unknown upper bounding functions without that assumption. The proposed design method is proved to be able to guarantee semi-global uniform ultimate boundedness of all the signals in the closed system, and the system output is proved to converge to a small neighborhood of the origin. The simulation results verify the effectiveness of the control scheme. 展开更多
关键词 adaptive neural network (NN) OUTPUT-feedback nonlinear time-delay systems BACKSTEPPING
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Adaptive State Feedback Predictive Control and Expert Control for a Delayed Coking Furnace 被引量:14
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作者 张伟勇 黄德先 +1 位作者 王毓栋 王京春 《Chinese Journal of Chemical Engineering》 SCIE EI CAS CSCD 2008年第4期590-598,共9页
An adaptive state feedback predictive control (SFPC) scheme and an expert control scheme are presented and applied to the temperature control of a 1200 kt·a^-1 delayed coking furnace, which is the key equipment... An adaptive state feedback predictive control (SFPC) scheme and an expert control scheme are presented and applied to the temperature control of a 1200 kt·a^-1 delayed coking furnace, which is the key equipment for the delayed coking process. Adaptive SFPC is used to improve the performance of temperature control in normal operation. A simplified nonlinear model on the basis of first principles of the furnace is developed to obtain a state space model by linearization. Taking advantage of the nonlinear model, an online model adapting method is presented to accommodate the dynamic change of process characteristics because of tube coking and load changes. To compensate the large inverse response of outlet temperature resulting from the sudden increase of injected steam of a particular velocity to tubes, a monitoring method and an expert control scheme based on heat balance calculation are proposed. Industrial implementation shows the effectiveness and feasibility of the proposed control strategy. 展开更多
关键词 delayed coking furnace adaptive control state feedback predictive control expert control
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Adaptive lag synchronization of uncertain dynamical systems with time delays via simple transmission lag feedback 被引量:4
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作者 顾卫东 孙志勇 +1 位作者 吴晓明 于长斌 《Chinese Physics B》 SCIE EI CAS CSCD 2013年第8期346-355,共10页
In this paper we present an adaptive scheme to achieve lag synchronization for uncertain dynamical systems with time delays and unknown parameters. In contrast to the nonlinear feedback scheme reported in the previous... In this paper we present an adaptive scheme to achieve lag synchronization for uncertain dynamical systems with time delays and unknown parameters. In contrast to the nonlinear feedback scheme reported in the previous literature, the proposed controller is a linear one which only involves simple feedback information from the drive system with signal popagation lags. Besides, the unknown parameters can also be identified via the proposed updating laws in spite of the existence of model delays and transmission lags, as long as the linear independence condition between the related function elements is satisfied. Two examples, i.e., the Mackey-Glass model with single delay and the Lorenz system with multiple delays, are employed to show the effectiveness of this approach. Some robustness issues are also discussed, which shows that the proposed scheme is quite robust in switching and noisy environment. 展开更多
关键词 adaptive feedback time delay lag synchronization parameter identification noise perturbation
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Control of Halo-Chaos in Beam Transport Network via Neural Network Adaptation with Time-Delayed Feedback 被引量:4
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作者 FANG Jin-Qing LUO Xiao-Shu Guo-Xian 《Communications in Theoretical Physics》 SCIE CAS CSCD 2006年第1期117-120,共4页
Subject of the halo-chaos control in beam transport networks (channels) has become a key concerned issue for many important applications of high-current proton beam since 1990'. In this paper, the magnetic field ad... Subject of the halo-chaos control in beam transport networks (channels) has become a key concerned issue for many important applications of high-current proton beam since 1990'. In this paper, the magnetic field adaptive control based on the neural network with time-delayed feedback is proposed for suppressing beam halo-chaos in the beam transport network with periodic focusing channels. The envelope radius of high-current proton beam is controlled to reach the matched beam radius by suitably selecting the control structure and parameter of the neural network, adjusting the delayed-time and control coefficient of the neural network. 展开更多
关键词 beam transport network periodic focusing channels high-current proton beam HALO-CHAOS neural network adaptation control time-delayed feedback
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CSI Feedback-based CS for Underwater Acoustic Adaptive Modulation OFDM System with Channel Prediction 被引量:3
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作者 蒯小燕 孙海信 +4 位作者 齐洁 程恩 许小卡 郭瑜辉 陈友淦 《China Ocean Engineering》 SCIE EI CSCD 2014年第3期391-400,共10页
In this paper, we investigate the performance of adaptive modulation (AM) orthogonal frequency division multiplexing (OFDM) system in underwater acoustic (UWA) communications. The aim is to solve the problem of ... In this paper, we investigate the performance of adaptive modulation (AM) orthogonal frequency division multiplexing (OFDM) system in underwater acoustic (UWA) communications. The aim is to solve the problem of large feedback overhead for channel state information (CSI) in every subcarrier. A novel CSI feedback scheme is proposed based on the theory of compressed sensing (CS). We propose a feedback from the receiver that only feedback the sparse channel parameters. Additionally, prediction of the channel state is proposed every several symbols to realize the AM in practice. We describe a linear channel prediction algorithm which is used in adaptive transmission. This system has been tested in the real underwater acoustic channel. The linear channel prediction makes the AM transmission techniques more feasible for acoustic channel communications. The simulation and experiment show that significant improvements can be obtained both in bit error rate (BER) and throughput in the AM scheme compared with the fixed Quadrature Phase Shift Keying (QPSK) modulation scheme. Moreover, the performance with standard CS outperforms the Discrete Cosine Transform (DCT) method. 展开更多
关键词 adaptive modulation OFDM CSI feedback compressed sensing channel prediction underwater acoustic channels
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Global Robust and Adaptive Output Feedback Dynamic Positioning of Surface Ships 被引量:10
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作者 Khac Duc Do 《Journal of Marine Science and Application》 2011年第3期325-332,共8页
A constructive method was presented to design a global robust and adaptive output feedback controller for dynamic positioning of surface ships under environmental disturbances induced by waves, wind, and ocean current... A constructive method was presented to design a global robust and adaptive output feedback controller for dynamic positioning of surface ships under environmental disturbances induced by waves, wind, and ocean currents. The ship's parameters were not required to be known. An adaptive observer was first designed to estimate the ship's velocities and parameters. The ship position measurements were also passed through the adaptive observer to reduce high frequency measurement noise from entering the control system. Using these estimate signals, the control was then designed based on Lyapunov's direct method to force the ship's position and orientation to globally asymptotically converge to desired values. Simulation results illustrate the effectiveness of the proposed control system. In conclusion, the paper presented a new method to design an effective control system for dynamic positioning of surface ships. 展开更多
关键词 dynamic positioning surface vessel robust and adaptive output feedback nonlinear control
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A new adaptive bending method using closed loop feedback control 被引量:4
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作者 T.WELO B.GRANLY 《Transactions of Nonferrous Metals Society of China》 SCIE EI CAS CSCD 2010年第11期2111-2117,共7页
As the competition from companies in low cost countries increases,the need for more automated production which reduces labour cost while improving product quality is required.A new rotary compression bending set-up wi... As the competition from companies in low cost countries increases,the need for more automated production which reduces labour cost while improving product quality is required.A new rotary compression bending set-up with automated closed-loop feedback control is thus being developed.By transferring in-process measurement data into an algorithm for predicting springback and bend angle prior to the unloading sequence,the dimensional accuracy is improved.This work focuses on the development of this steering model.Since the method used does not increase cycle time,it is attractive for high-volume industrial applications.More than 150 bending tests of AA6060 extrusions were conducted to determine the capability of the technology.The results show that by activating the automated closed-loop feedback system,the dimensional accuracy of the bent parts is more than three times better than that obtained by traditional compression bending.Since the steering model permits the direct use of additional process data,such as instant wall thickness and cross sectional distortions,it is believed that extension of the measurement capabilities would improve the accuracy of the methodology even further. 展开更多
关键词 adaptive bending closed-loop feedback dimensional accuracy SPRINGBACK aluminium EXTRUSION
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Adaptive Consensus of Non-Strict Feedback Switched Multi-Agent Systems With Input Saturations 被引量:5
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作者 Zhanjie Li Jun Zhao 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2021年第11期1752-1761,共10页
This paper considers the leader-following consensus for a class of nonlinear switched multi-agent systems(MASs)with non-strict feedback forms and input saturations under unknown switching mechanisms.First,in virtue of... This paper considers the leader-following consensus for a class of nonlinear switched multi-agent systems(MASs)with non-strict feedback forms and input saturations under unknown switching mechanisms.First,in virtue of Gaussian error functions,the saturation nonlinearities are represented by asymmetric saturation models.Second,neural networks are utilized to approximate some unknown packaged functions,and the structural property of Gaussian basis functions is introduced to handle the non-strict feedback terms.Third,by using the backstepping process,a common Lyapunov function is constructed for all the subsystems of the followers.At last,we propose an adaptive consensus protocol,under which the tracking error under arbitrary switching converges to a small neighborhood of the origin.The effectiveness of the proposed protocol is illustrated by a simulation example. 展开更多
关键词 adaptive consensus input saturation non-strict feedback switched multi-agent systems(MASs)
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Adaptive Backstepping Output Feedback Control for SISO Nonlinear System Using Fuzzy Neural Networks 被引量:2
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作者 Shao-Cheng Tong Yong-Ming Li 《International Journal of Automation and computing》 EI 2009年第2期145-153,共9页
In this paper, a new fuzzy-neural adaptive control approach is developed for a class of single-input and single-output (SISO) nonlinear systems with unmeasured states. Using fuzzy neural networks to approximate the ... In this paper, a new fuzzy-neural adaptive control approach is developed for a class of single-input and single-output (SISO) nonlinear systems with unmeasured states. Using fuzzy neural networks to approximate the unknown nonlinear functions, a fuzzy- neural adaptive observer is introduced for state estimation as well as system identification. Under the framework of the backstepping design, fuzzy-neural adaptive output feedback control is constructed recursively. It is proven that the proposed fuzzy adaptive control approach guarantees the global boundedness property for all the signals, driving the tracking error to a small neighbordhood of the origin. Simulation example is included to illustrate the effectiveness of the proposed approach. 展开更多
关键词 Nonlinear systems backstepping control adaptive fuzzy neural networks control state observer output feedback control.
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Effects of Different Feedback Conditions on Sensorimotor Adaptation Revealed in a Mirror Reversal Paradigm
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作者 Jingyue Xu Chen Yang +6 位作者 Mengzhan Liufu Shuai Chang Jinpeng Chen Feng Lu Alkis M. Hadjiosif Adrian M. Haith Xueqian Deng 《Journal of Behavioral and Brain Science》 2023年第7期127-141,共15页
Humans are able to overcome sensory perturbations imposed on their movements through motor learning. One of the key mechanisms to accomplish this is sensorimotor adaptation, an implicit, error-driven learning mechanis... Humans are able to overcome sensory perturbations imposed on their movements through motor learning. One of the key mechanisms to accomplish this is sensorimotor adaptation, an implicit, error-driven learning mechanism. Past work on sensorimotor adaptation focused mainly on adaptation to rotated visual feedback—A paradigm known as visuomotor rotation. Recent studies have shown that sensorimotor adaptation can also occur under mirror-reversed visual feedback. In visuomotor rotation, sensorimotor adaptation can be driven by both endpoint and online feedback [1] [2]. However, it’s not been clear whether both kinds of feedback can similarly drive adaptation under a mirror reversed perturbation. We performed a study to establish what kinds of feedback can drive adaptation under mirror reversal. In the first two conditions, the participants were asked to ignore visual feedback. In the first condition, we provided mirror reversed online feedback and endpoint feedback. We reproduced previous findings showing that online feedback elicited adaptation under mirror reversal. In a second condition, we provided mirror reversed endpoint feedback. However, in the second condition, we found that endpoint feedback alone failed to elicit adaptation. In a third condition, we provided both types of feedback at the same time, but in a conflicting way: endpoint feedback was non-reversed while online feedback was mirror reversed. The participants were asked to ignore online visual feedback and try to hit the target with help from veridical endpoint feedback. In the third condition, in which veridical endpoint feedback and mirror reversed online feedback were provided, adaptation still occurred. Our results showed that endpoint feedback did not elicit adaptation under mirror reversal but online feedback did. This dissociation between effects of endpoint feedback and online feedback on adaptation under mirror reversal suggests that adaptation under these different kinds of feedback might in fact operate via distinct mechanisms. 展开更多
关键词 Endpoint feedback Online feedback Motor Learning Implicit adaptation Mirror Reversal
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Design and Implementation of an Adaptive Feedback Queue Algorithm over Open Flow Networks 被引量:5
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作者 Jiawei Wu Xiuquan Qiao Junliang Chen 《China Communications》 SCIE CSCD 2018年第7期168-179,共12页
The concurrent presence of different types of traffic in multimedia applications might aggravate a burden on the underlying data network, which is bound to affect the transmission quality of the specified traffic. Rec... The concurrent presence of different types of traffic in multimedia applications might aggravate a burden on the underlying data network, which is bound to affect the transmission quality of the specified traffic. Recently, several proposals for fulfilling the quality of service(QoS) guarantees have been presented. However, they can only support coarse-grained QoS with no guarantee of throughput, jitter, delay or loss rate for different applications. To address these more challenging problems, an adaptive scheduling algorithm for Parallel data Processing with Multiple Feedback(PPMF) queues based on software defined networks(SDN) is proposed in this paper, which can guarantee the quality of service of high priority traffic in multimedia applications. PPMF combines the queue bandwidth feedback mechanism to realise the automatic adjustment of the queue bandwidth according to the priority of the packet and network conditions, which can effectively solve the problem of network congestion that has been experienced by some queues for a long time. Experimental results show PPMF significantly outperforms other existing scheduling approaches in achieving 35--80% improvement on average time delay by adjusting the bandwidth adaptively, thus ensuring the transmission quality of the specified traffic and avoiding effectively network congestion. 展开更多
关键词 multimedia streams software defined networks quality of service priority-based adaptive feedback queues
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Variable step-size affine projection algorithm based on global speech absence probability for adaptive feedback cancellation 被引量:3
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作者 KIM Young-Sear SONG Ji-hyun +1 位作者 KIM Sang-Kyun LEE Sangmin 《Journal of Central South University》 SCIE EI CAS 2014年第2期646-650,共5页
A novel approach is proposed for improving adaptive feedback cancellation using a variable step-size affine projection algorithm(VSS-APA) based on global speech absence probability(GSAP).The variable step-size of the ... A novel approach is proposed for improving adaptive feedback cancellation using a variable step-size affine projection algorithm(VSS-APA) based on global speech absence probability(GSAP).The variable step-size of the proposed VSS-APA is adjusted according to the GSAP of the current frame.The weight vector of the adaptive filter is updated by the probability of the speech absence.The performance measure of acoustic feedback cancellation is evaluated using normalized misalignment.Experimental results demonstrate that the proposed approach has better performance than the normalized least mean square(NLMS) and the constant step-size affine projection algorithms. 展开更多
关键词 adaptive feedback cancellation affine projection global speech absence probability(GSAP)
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Adaptive output feedback control for uncertain nonholonomic chained systems 被引量:1
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作者 袁占平 王祝萍 陈启军 《Journal of Central South University》 SCIE EI CAS 2010年第3期572-579,共8页
An adaptive output feedback control was proposed to deal with a class of nonholonomic systems in chained form with strong nonlinear disturbances and drift terms. The objective was to design adaptive nonlinear output f... An adaptive output feedback control was proposed to deal with a class of nonholonomic systems in chained form with strong nonlinear disturbances and drift terms. The objective was to design adaptive nonlinear output feedback laws such that the closed-loop systems were globally asymptotically stable, while the estimated parameters remained bounded. The proposed systematic strategy combined input-state-scaling with backstepping technique. The adaptive output feedback controller was designed for a general case of uncertain chained system. Furthermore, one special case was considered. Simulation results demonstrate the effectiveness of the proposed controllers. 展开更多
关键词 adaptive output feedback input-state scaling BACKSTEPPING nonholonomic system
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Adaptive Fuzzy Backstepping Output Feedback Control of Nonlinear Time-delay Systems with Unknown High-frequency Gain Sign 被引量:1
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作者 Chang-Liang Liu Shao-Cheng Tong +1 位作者 Yong-Ming Li Yuan-Qing Xia 《International Journal of Automation and computing》 EI 2011年第1期14-22,共9页
In this paper, an adaptive fuzzy robust feedback control approach is proposed for a class of single-input and singleoutput (SISO) strict-feedback nonlinear systems with unknown nonlinear functions, time delays, unkn... In this paper, an adaptive fuzzy robust feedback control approach is proposed for a class of single-input and singleoutput (SISO) strict-feedback nonlinear systems with unknown nonlinear functions, time delays, unknown high-frequency gain sign, and without the measurements of the states. In the backstepping recursive design, fuzzy logic systems are employed to approximate the unknown smooth nonlinear functions, K-filters is designed to estimate the unmeasured states, and Nussbaum gain functions are introduced to solve the problem of unknown sign of high-frequency gain. By combining adaptive fuzzy control theory and adaptive backstepping design, a stable adaptive fuzzy output feedback control scheme is developed. It has been proven that the proposed adaptive fuzzy robust control approach can guarantee that all the signals of the closed-loop system are uniformly ultimately bounded and the tracking error can converge to a small neighborhood of the origin by appropriately choosing design parameters. Simulation results have shown the effectiveness of the proposed method. 展开更多
关键词 Nonlinear systems adaptive fuzzy control time-delay high-frequency gain sign BACKSTEPPING K-filters stability.
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Adaptive robust feedback control of moving target tracking for all-Electrical tank with uncertainty 被引量:1
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作者 Yu-ze Ma Guo-lai Yang +2 位作者 Qin-qin Sun Xiu-ye Wang Zong-fan Wang 《Defence Technology(防务技术)》 SCIE EI CAS CSCD 2022年第4期626-642,共17页
A moving target tracking control problem for marching tank based on adaptive robust feedback control scheme is addressed.A series of preparations is needed for tank gun before shooting a target,the purpose of this pap... A moving target tracking control problem for marching tank based on adaptive robust feedback control scheme is addressed.A series of preparations is needed for tank gun before shooting a target,the purpose of this paper is to design a control system to fulfill two requirements in this process:the turretbarrel system of tank needs to be adjusted from off-target position to command position and point to the moving target stably when there are strong uncertainties(modeling error,uncertain disturbance with unknown boundaries and road excitation) in the system.Considering the characteristic of coupled interaction,the first thing we do in this paper is to build a coupled analysis model of turret-barrel system with uncertainty term in state-space form.Second,an adaptive robust feedback control scheme is proposed by adding adaptive law to overcome the uncertainty.Third,multi-body dynamics software is used to establish the mechanical mechanism of the tank,and DC-motor module is established in SIMULINK environment,thus the target information and tracking error of the control system is collected and transferred,the gear-ball screw is derived directly by the output torque of the DC-motor module.Finally,the control system and the 3D model are combined together by means of Recur Dyn/SIMULINK co-simulation,the turret-barrel system of tank can approximately track the moving target in a certain range.With the adaptive robust feedback control,the target action is completely followed when the target location is constantly changing. 展开更多
关键词 Mechanical system Tank stability UNCERTAINTY Road excitation adaptive robust feedback control
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Robust adaptive control for a class of uncertain non-affine nonlinear systems using neural state feedback compensation 被引量:1
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作者 赵石铁 高宪文 《Journal of Central South University》 SCIE EI CAS CSCD 2016年第3期636-643,共8页
A robust adaptive control is proposed for a class of uncertain nonlinear non-affine SISO systems. In order to approximate the unknown nonlinear function, an affine type neural network(ATNN) and neural state feedback c... A robust adaptive control is proposed for a class of uncertain nonlinear non-affine SISO systems. In order to approximate the unknown nonlinear function, an affine type neural network(ATNN) and neural state feedback compensation are used, and then to compensate the approximation error and external disturbance, a robust control term is employed. By Lyapunov stability analysis for the closed-loop system, it is proven that tracking errors asymptotically converge to zero. Moreover, an observer is designed to estimate the system states because all the states may not be available for measurements. Furthermore, the adaptation laws of neural networks and the robust controller are given based on the Lyapunov stability theory. Finally, two simulation examples are presented to demonstrate the effectiveness of the proposed control method. Finally, two simulation examples show that the proposed method exhibits strong robustness, fast response and small tracking error, even for the non-affine nonlinear system with external disturbance, which confirms the effectiveness of the proposed approach. 展开更多
关键词 adaptive control neural networks uncertain non-affine systems state feedback Lyapunov stability
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