Dynamic Surface Control Using Neural Networks for a Class of Uncertain Nonlinear Systems With Input Saturation

In this paper, a dynamic surface control (DSC) scheme is proposed for a class of uncertain strict-feedback nonlinear systems in the presence of input saturation and unknown external disturbance. The radial basis function neural network (RBFNN) is employed to approximate the unknown system function....

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Bibliographic Details
Published in:IEEE transaction on neural networks and learning systems 2015-09, Vol.26 (9), p.2086-2097
Main Authors: Chen, Mou, Tao, Gang, Jiang, Bin
Format: Article
Language:English
Subjects:
Adaptive systems
Artificial neural networks
Backstepping
Backstepping control
Computer Simulation
Control design
dynamic surface control (DSC)
Feedback
Humans
Neural networks
Neural Networks (Computer)
nonlinear disturbance observer (NDO)
Nonlinear Dynamics
Nonlinear systems
Observers
robust control
Robustness
uncertain nonlinear system
Uncertainty
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Summary:In this paper, a dynamic surface control (DSC) scheme is proposed for a class of uncertain strict-feedback nonlinear systems in the presence of input saturation and unknown external disturbance. The radial basis function neural network (RBFNN) is employed to approximate the unknown system function. To efficiently tackle the unknown external disturbance, a nonlinear disturbance observer (NDO) is developed. The developed NDO can relax the known boundary requirement of the unknown disturbance and can guarantee the disturbance estimation error converge to a bounded compact set. Using NDO and RBFNN, the DSC scheme is developed for uncertain nonlinear systems based on a backstepping method. Using a DSC technique, the problem of explosion of complexity inherent in the conventional backstepping method is avoided, which is specially important for designs using neural network approximations. Under the proposed DSC scheme, the ultimately bounded convergence of all closed-loop signals is guaranteed via Lyapunov analysis. Simulation results are given to show the effectiveness of the proposed DSC design using NDO and RBFNN.
ISSN:2162-237X
2162-2388
DOI:10.1109/TNNLS.2014.2360933