Robust adaptive tracking controller design for non-affine non-linear systems with state time-varying delay and unknown dead-zone
Source: International Journal of Intelligent Systems Technologies and Applications, Volume 6, Numbers 1-2, 25 January 2009 , pp. 128-143(16)
Publisher: Inderscience Publishers
Abstract:A novel Neural Network (NN)-based dead-zone compensation scheme for a class of non-affine Multiple-Input Multiple-Output (MIMO) non-linear systems with state time-varying delay is presented. A static NN is introduced to approximate and adaptively cancel the unknown nonlinear dynamic of the subsystems and unknown dead-zone after its existence proved by implicit function theorem. The control law and adaptive laws for the weights of the hidden layer and output layer of NNs are established by Lyapunov analysis of the whole closed-loop system. The tracking error is proved to be Uniformly Ultimately Bounded (UUB) via introducing an additional robust control term. The effectiveness of the proposed control scheme is verified by the simulation of an MIMO non-affine non-linear system with state time-varying delay.
Document Type: Research article
Affiliations: 1: School of Information Science and Engineering, Northeastern University, Shenyang, Liaoning 110004, PR China. 2: School of Information Science and Engineering, Northeastern University, Shenyang, Liaoning 110004, PR China
Publication date: 2009-01-25
- Intelligent systems refer broadly to computer embedded or controlled systems, machines and devices that possess a certain degree of intelligence. International Journal of Intelligent Systems Technologies and Applications, a peer-reviewed double-blind refereed journal, publishes original papers featuring innovative and practical technologies related to the design and development of intelligent systems. Its coverage also includes papers on intelligent systems applications in areas such as manufacturing, bioengineering, agriculture, services, home automation and appliances, medical robots and robotic rehabilitations, space exploration, etc.
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