Adaptive tracking control of uncertain MIMO nonlinear systems based on generalized fuzzy hyperbolic model

This paper is concerned with the problem of adaptive tracking control for a class of multi-input and multi-output (MIMO) strict-feedback nonlinear systems with unknown disturbances. In the controller design process, all the nonlinear unknown functions are accumulated to the last step in each subsystem, and the final nonlinear unknown accumulation is approximated by using generalized fuzzy hyperbolic model (GFHM). Only the actual controller and one adaptive law are needed in each subsystem. So the controllers design is much simple and the amount of calculation is greatly reduces comparing with the existing control methods. It is shown that the proposed control law can guarantee that all the signals in the closed-loop system are uniformly ultimately bounded and the tracking errors converge to a small neighborhood. The simulation results show the effectiveness and superiority of control method in this paper.

[1]  Danwei W. Wang,et al.  Dynamic Surface Control of Constrained Hypersonic Flight Models with Parameter Estimation and Actuator Compensation , 2014 .

[2]  Shaocheng Tong,et al.  Fuzzy Approximation-Based Adaptive Backstepping Optimal Control for a Class of Nonlinear Discrete-Time Systems With Dead-Zone , 2016, IEEE Transactions on Fuzzy Systems.

[3]  Xiaodong Liu,et al.  Stability analysis for neural networks with time-varying delay , 2008, 2008 47th IEEE Conference on Decision and Control.

[4]  Yanjun Liu,et al.  Adaptive fuzzy optimal control using direct heuristic dynamic programming for chaotic discrete-time system , 2016 .

[5]  Shaocheng Tong,et al.  Adaptive Fuzzy Output Feedback Control of MIMO Nonlinear Systems With Unknown Dead-Zone Inputs , 2013, IEEE Transactions on Fuzzy Systems.

[6]  Huaguang Zhang,et al.  Neural-Network-Based Near-Optimal Control for a Class of Discrete-Time Affine Nonlinear Systems With Control Constraints , 2009, IEEE Transactions on Neural Networks.

[7]  Dongkyoung Chwa,et al.  Global Tracking Control of Underactuated Ships With Input and Velocity Constraints Using Dynamic Surface Control Method , 2011, IEEE Transactions on Control Systems Technology.

[8]  Shao Cheng,et al.  Robust indirect adaptive fuzzy control based on the GFHM , 2012, 2012 International Conference on System Science and Engineering (ICSSE).

[9]  Zhongke Shi,et al.  Command Filter Based Robust Nonlinear Control of Hypersonic Aircraft with Magnitude Constraints on States and Actuators , 2014, J. Intell. Robotic Syst..

[10]  Shaocheng Tong,et al.  Adaptive NN Controller Design for a Class of Nonlinear MIMO Discrete-Time Systems , 2015, IEEE Transactions on Neural Networks and Learning Systems.

[11]  Huaguang Zhang,et al.  Novel Weighting-Delay-Based Stability Criteria for Recurrent Neural Networks With Time-Varying Delay , 2010, IEEE Transactions on Neural Networks.

[12]  Yongming Li,et al.  Observer-Based Adaptive Fuzzy Backstepping Dynamic Surface Control for a Class of MIMO Nonlinear Systems , 2011, IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics).

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

[14]  Jin Bae Park,et al.  Adaptive Dynamic Surface Control of Flexible-Joint Robots Using Self-Recurrent Wavelet Neural Networks , 2006, IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics).

[15]  S Jagannathan,et al.  Power System Stabilization Using Adaptive Neural Network-Based Dynamic Surface Control , 2011, IEEE Transactions on Power Systems.

[16]  Shaocheng Tong,et al.  Observer-Based Adaptive Fuzzy Backstepping Output Feedback Control of Uncertain MIMO Pure-Feedback Nonlinear Systems , 2012, IEEE Transactions on Fuzzy Systems.

[17]  Yan-Jun Liu,et al.  Robust adaptive NN control for a class of uncertain discrete-time nonlinear MIMO systems , 2011, Neural Computing and Applications.

[18]  Yan Lin,et al.  Decentralised adaptive dynamic surface control for a class of interconnected non-linear systems , 2012 .

[19]  Dan Wang,et al.  Neural network-based adaptive dynamic surface control for a class of uncertain nonlinear systems in strict-feedback form , 2005, IEEE Transactions on Neural Networks.

[20]  Yeong-Hwa Chang,et al.  Adaptive Dynamic Surface Control for Uncertain Nonlinear Systems With Interval Type-2 Fuzzy Neural Networks , 2014, IEEE Transactions on Cybernetics.

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

[22]  Jang Myung Lee,et al.  Precise Positioning of Nonsmooth Dynamic Systems Using Fuzzy Wavelet Echo State Networks and Dynamic Surface Sliding Mode Control , 2013, IEEE Transactions on Industrial Electronics.

[23]  Shaocheng Tong,et al.  A DSC Approach to Robust Adaptive NN Tracking Control for Strict-Feedback Nonlinear Systems , 2008, IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics).

[24]  Shuzhi Sam Ge,et al.  Robust Adaptive Position Mooring Control for Marine Vessels , 2013, IEEE Transactions on Control Systems Technology.

[25]  Y. Wang,et al.  Stability Analysis of Markovian Jumping Stochastic Cohen–Grossberg Neural Networks With Mixed Time Delays , 2008, IEEE Transactions on Neural Networks.

[26]  Danwei Wang,et al.  Adaptive Neural Control of a Hypersonic Vehicle in Discrete Time , 2014, J. Intell. Robotic Syst..

[27]  Quan Yong.  Generalized Fuzzy Hyperbolic Model: a Universal Approximator , 2003 .

[28]  Wang,et al.  Fuzzy Adaptive Control of Stochastic Nonlinear Systems with Unknown Virtual Control Gain Function , 2006 .

[29]  Shaocheng Tong,et al.  Adaptive fuzzy control for a class of unknown nonlinear dynamical systems , 2015, Fuzzy Sets Syst..

[30]  Robert M. Sanner,et al.  Gaussian Networks for Direct Adaptive Control , 1991, 1991 American Control Conference.

[31]  Xuemei Ren,et al.  Modified Neural Dynamic Surface Approach to Output Feedback of MIMO Nonlinear Systems , 2015, IEEE Transactions on Neural Networks and Learning Systems.

[32]  P. P. Yip,et al.  Adaptive dynamic surface control : a simplified algorithm for adaptive backstepping control of nonlinear systems , 1998 .

[33]  Huaguang Zhang,et al.  Global Asymptotic Stability of Recurrent Neural Networks With Multiple Time-Varying Delays , 2008, IEEE Transactions on Neural Networks.