Adaptive backstepping sliding mode control for nonlinear systems with input saturation |
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| Authors: | Hongmei Zhang and Guoshan Zhang |
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| Institution: | 1 (1.School of Electrical Engineering and Automation,Tianjin University,Tianjin 300072,China;2.School of Automation,Shenyang Aerospace University,Shenyang 110136,China) |
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| Abstract: | An adaptive backstepping sliding mode control is proposed for a class of uncertain nonlinear systems with input saturation.
A command filtered approach is used to prevent input saturation from destroying the adaptive capabilities of neural networks
(NNs). The control law and adaptive updating laws of NNs are derived in the sense of Lyapunov function, so the stability can
be guaranteed even under the input saturation. The proposed control law is robust against the disturbance, and it can also
eliminate the impact of input saturation. Simulation results indicate that the proposed controller has a good performance. |
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| Keywords: | nonlinear system input saturation adaptive backstepping control sliding mode control neural network |
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