TY - GEN
T1 - Adaptive Neural Control with Prescribed Performance for Strict-Feedback Systems with Input Saturation
AU - Sun, Jingliang
AU - Liu, Chunsheng
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/8
Y1 - 2018/8
N2 - This paper presents a novel adaptive control scheme that is able to achieve given tracking performance for a class of uncertain nonlinear systems in strict-feedback form with input saturation. The neural networks (NNs) are utilized to estimate the unknown nonlinearities, and an auxiliary system is designed to compensate the effect of input saturation. Different from the existing results, a novel barrier Lyapunov function is firstly introduced into the backstepping design step to deal with the tracking error performance. Therefore, it is a unified design approach for systems with or without constraint requirements. Finally, by utilizing the Lyapunov method, the boundedness of the closed-loop signals is guaranteed, and the tracking error is constrained within prescribed performance bound. The simulation results illustrate the effectiveness of the proposed control approach.
AB - This paper presents a novel adaptive control scheme that is able to achieve given tracking performance for a class of uncertain nonlinear systems in strict-feedback form with input saturation. The neural networks (NNs) are utilized to estimate the unknown nonlinearities, and an auxiliary system is designed to compensate the effect of input saturation. Different from the existing results, a novel barrier Lyapunov function is firstly introduced into the backstepping design step to deal with the tracking error performance. Therefore, it is a unified design approach for systems with or without constraint requirements. Finally, by utilizing the Lyapunov method, the boundedness of the closed-loop signals is guaranteed, and the tracking error is constrained within prescribed performance bound. The simulation results illustrate the effectiveness of the proposed control approach.
UR - http://www.scopus.com/inward/record.url?scp=85082439058&partnerID=8YFLogxK
U2 - 10.1109/GNCC42960.2018.9018675
DO - 10.1109/GNCC42960.2018.9018675
M3 - Conference contribution
AN - SCOPUS:85082439058
T3 - 2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018
BT - 2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018
Y2 - 10 August 2018 through 12 August 2018
ER -