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首页> 外文期刊>Control Theory & Applications, IET >Adaptive neural tracking control for a class of non-lower triangular non-linear systems with dead zone and unmodelled dynamics
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Adaptive neural tracking control for a class of non-lower triangular non-linear systems with dead zone and unmodelled dynamics

机译：具有死区和未刻度动力学的一类非下三角非线性系统的自适应神经跟踪控制

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摘要

This study presents the disturbance observer-based adaptive neural tracking control approach for non-linear systems in non-strict-feedback form. The design difficulties including unmodelled dynamics and non-strict-feedback form are handled by resorting to a dynamic signal and the variable separation approach, respectively. A disturbance observer is constructed to cope with the effect of time varying disturbance. Neural networks are directly utilised to cope with the completely unknown non-linear functions and stochastic disturbances existing in systems. It is shown that the designed adaptive controller can guarantee that all the signals remain bounded and the desired signal can be tracked with a small domain of the origin. A numerical example is presented to illustrate the effectiveness of the proposed approach and an example of a real plant for one-link manipulator is provided to show the feasibility of the newly designed controller scheme.
机译：本研究介绍了非严格反馈形式非线性系统的干扰观察者的自适应神经跟踪控制方法。通过借助动态信号和可变分离方法，可以通过借助动态信号和可变分离方法来处理包括未刻度动态和非严格反馈形式的设计困难。构建干扰观察者以应对时间变化干扰的影响。神经网络直接用于应对系统中存在的完全未知的非线性功能和随机障碍。结果表明，设计的自适应控制器可以保证所有信号保持界限，并且可以用原点的小域跟踪所需的信号。提出了一个数值示例以说明所提出的方法的有效性，并且提供了用于单链路操纵器的真实工厂的实例以示出新设计的控制器方案的可行性。

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  • 来源
    《Control Theory & Applications, IET》 |2019年第5期|672-682|共11页
  • 作者

    Wang Xinjun; Wu Qinghui; Wang Hongjie; Yin Xinghui;

  • 作者单位

    Hohai Univ Coll Comp & Informat Nanjing 211100 Jiangsu Peoples R China;

    Bohai Univ Coll Engn Jinzhou 121013 Peoples R China;

    Hohai Univ Coll Comp & Informat Nanjing 211100 Jiangsu Peoples R China;

    Hohai Univ Coll Comp & Informat Nanjing 211100 Jiangsu Peoples R China;

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  • 正文语种 eng
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