Adaptive Neural Control of a Class of Output-Constrained Nonaffine Systems

In this paper, we present a novel tracking controller for a class of uncertain nonaffine systems with time-varying asymmetric output constraints. Firstly, the original nonaffine constrained (in the sense of the output signal) control system is transformed into a output-feedback control problem of an...

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Bibliographic Details
Published in:	IEEE transactions on cybernetics 2016-01, Vol.46 (1), p.85-95
Main Authors:	Wenchao Meng, Qinmin Yang, Si, Jennie, Youxian Sun
Format:	Article
Language:	eng
Subjects:	Adaptive control Adaptive control systems Adaptive systems Artificial neural networks Asymmetry Control systems Controllers Cybernetics Models, Theoretical neural network (NN) Neural Networks (Computer) nonaffine systems Nonlinear Dynamics Observers output constraints Signal Processing, Computer-Assisted Simulation Synthesis Time-varying systems Torque Tracking transformation Vectors Wind
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Summary:	In this paper, we present a novel tracking controller for a class of uncertain nonaffine systems with time-varying asymmetric output constraints. Firstly, the original nonaffine constrained (in the sense of the output signal) control system is transformed into a output-feedback control problem of an unconstrained affine system in normal form. As a result, stabilization of the transformed system is sufficient to ensure constraint satisfaction. It is subsequently shown that the output tracking is achieved without violation of the predefined asymmetric time-varying output constraints. Therefore, we are capable of quantifying the system performance bounds as functions of time on both transient and steady-state stages. Furthermore, the transformed system is linear with respect to a new input signal and the traditional backstepping scheme is avoided, which makes the synthesis extremely simplified. All the signals in the closed-loop system are proved to be semi-globally, uniformly, and ultimately bounded via Lyapunov synthesis. Finally, the simulation results are presented to illustrate the performance of the proposed controller.
ISSN:	2168-2267 2168-2275