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 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.

[1]  E. Coddington,et al.  Theory of Ordinary Differential Equations , 1955 .

[2]  Donald A. Sofge,et al.  Handbook of Intelligent Control: Neural, Fuzzy, and Adaptive Approaches , 1992 .

[3]  George W. Irwin,et al.  Direct neural model reference adaptive control , 1995 .

[4]  D. Mayne Nonlinear and Adaptive Control Design [Book Review] , 1996, IEEE Transactions on Automatic Control.

[5]  George Meyer,et al.  Stable inversion for nonlinear systems , 1997, Autom..

[6]  J. Si,et al.  Neural network-based control design: an LMI approach , 1998, Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207).

[7]  M. Er,et al.  Stability of linear systems with delayed perturbations: an LMI approach , 2002 .

[8]  Jin Zhang,et al.  Neural-network control of nonaffine nonlinear system with zero dynamics by state and output feedback , 2003, IEEE Trans. Neural Networks.

[9]  Shuzhi Sam Ge,et al.  An ISS-modular approach for adaptive neural control of pure-feedback systems , 2006, Autom..

[10]  J. Farrell,et al.  Adaptive Approximation Based Control: Unifying Neural, Fuzzy and Traditional Adaptive Approximation Approaches (Adaptive and Learning Systems for Signal Processing, Communications and Control Series) , 2006 .

[11]  Anthony J. Calise,et al.  Adaptive Control of a Class of Nonaffine Systems Using Neural Networks , 2007, IEEE Transactions on Neural Networks.

[12]  Francis Eng Hock Tay,et al.  Barrier Lyapunov Functions for the control of output-constrained nonlinear systems , 2009, Autom..

[13]  Keng Peng Tee,et al.  Adaptive Control of Electrostatic Microactuators With Bidirectional Drive , 2009, IEEE Transactions on Control Systems Technology.

[14]  Charalampos P. Bechlioulis,et al.  Adaptive control with guaranteed transient and steady state tracking error bounds for strict feedback systems , 2009, Autom..

[15]  K. D. Do,et al.  Control of nonlinear systems with output tracking error constraints and its application to magnetic bearings , 2010, Int. J. Control.

[16]  Keng Peng Tee,et al.  Adaptive Neural Control for Output Feedback Nonlinear Systems Using a Barrier Lyapunov Function , 2010, IEEE Transactions on Neural Networks.

[17]  Shaocheng Tong,et al.  Adaptive Neural Output Feedback Tracking Control for a Class of Uncertain Discrete-Time Nonlinear Systems , 2011, IEEE Transactions on Neural Networks.

[18]  Youxian Sun,et al.  NN-based asymptotic tracking control for a class of strict-feedback uncertain nonlinear systems with output constraints , 2012, 2012 IEEE 51st IEEE Conference on Decision and Control (CDC).

[19]  Cong Wang,et al.  Identification and Learning Control of Ocean Surface Ship Using Neural Networks , 2012, IEEE Transactions on Industrial Informatics.

[20]  X. Guan,et al.  Dynamic surface control for a class of state-constrained non-linear systems with uncertain time delays , 2012 .

[21]  Charalampos P. Bechlioulis,et al.  A Priori Guaranteed Evolution Within the Neural Network Approximation Set and Robustness Expansion via Prescribed Performance Control , 2012, IEEE Transactions on Neural Networks and Learning Systems.

[22]  Shuzhi Sam Ge,et al.  Direct Adaptive Neural Control for a Class of Uncertain Nonaffine Nonlinear Systems Based on Disturbance Observer , 2013, IEEE Transactions on Cybernetics.

[23]  Youxian Sun,et al.  Adaptive Power Capture Control of Variable-Speed Wind Energy Conversion Systems With Guaranteed Transient and Steady-State Performance , 2013, IEEE Transactions on Energy Conversion.

[24]  Frank L. Lewis,et al.  Adaptive Optimal Control of Unknown Constrained-Input Systems Using Policy Iteration and Neural Networks , 2013, IEEE Transactions on Neural Networks and Learning Systems.

[25]  Bing Chen,et al.  Robust Adaptive Fuzzy Tracking Control for Pure-Feedback Stochastic Nonlinear Systems With Input Constraints , 2013, IEEE Transactions on Cybernetics.

[26]  Shaocheng Tong,et al.  Adaptive Fuzzy Decentralized Output Feedback Control for Nonlinear Large-Scale Systems With Unknown Dead-Zone Inputs , 2013, IEEE Transactions on Fuzzy Systems.

[27]  Barry W. Williams,et al.  Wind Turbine Power Coefficient Analysis of a New Maximum Power Point Tracking Technique , 2013, IEEE Transactions on Industrial Electronics.

[28]  Shaocheng Tong,et al.  A Combined Backstepping and Stochastic Small-Gain Approach to Robust Adaptive Fuzzy Output Feedback Control , 2013, IEEE Transactions on Fuzzy Systems.

[29]  Shengyuan Xu,et al.  Observer-Based Adaptive Neural Network Control for Nonlinear Stochastic Systems With Time Delay , 2013, IEEE Transactions on Neural Networks and Learning Systems.

[30]  Jing Na,et al.  Adaptive Control for Nonlinear Pure-Feedback Systems With High-Order Sliding Mode Observer , 2013, IEEE Transactions on Neural Networks and Learning Systems.

[31]  Shaocheng Tong,et al.  Adaptive Fuzzy Control via Observer Design for Uncertain Nonlinear Systems With Unmodeled Dynamics , 2013, IEEE Transactions on Fuzzy Systems.

[32]  Youxian Sun,et al.  Adaptive neural control of high-order uncertain nonaffine systems: A transformation to affine systems approach , 2014, Autom..

[33]  Peng Shi,et al.  Novel Neural Control for a Class of Uncertain Pure-Feedback Systems , 2014, IEEE Transactions on Neural Networks and Learning Systems.

[34]  Shaocheng Tong,et al.  Adaptive Fuzzy Robust Output Feedback Control of Nonlinear Systems With Unknown Dead Zones Based on a Small-Gain Approach , 2014, IEEE Transactions on Fuzzy Systems.

[35]  Charalampos P. Bechlioulis,et al.  A low-complexity global approximation-free control scheme with prescribed performance for unknown pure feedback systems , 2014, Autom..

[36]  Yongming Li,et al.  Indirect adaptive fuzzy control for input and output constrained nonlinear systems using a barrier Lyapunov function , 2014 .

[37]  Youxian Sun,et al.  Adaptive Neural Control of Nonlinear MIMO Systems With Time-Varying Output Constraints , 2015, IEEE Transactions on Neural Networks and Learning Systems.

[38]  Shaocheng Tong,et al.  Adaptive NN Tracking Control of Uncertain Nonlinear Discrete-Time Systems With Nonaffine Dead-Zone Input , 2015, IEEE Transactions on Cybernetics.