Output regulation problem of a class of pure-feedback nonlinear systems via adaptive neural control |
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| Authors: | Fujin Jia Junwei Lu Yongmin Li |
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| Institution: | 1. School of Automation, Nanjing University of Science and Technology, Nanjing 210094, PR China;2. School of Electrical and Automation Engineering, Nanjing Normal University, Nanjing 210023, PR China;3. School of Science, Huzhou Teachers College, Zhejiang, Huzhou 313000, PR China;1. College of Information Engineering, Nanjing University of Finance & Economics, Nanjing 210023, PR China;2. School of Optical-Electrical and Computer Engineering, University of Shanghai for Science and Technology, Shanghai 200011, PR China;3. The Institute of Advanced Technology, Nanjing University of Posts and Telecommunications, Nanjing 210023, PR China;1. School of Mathematical Science, Heilongjiang University, Harbin 150080, P. R. China;2. Heilongjiang Provincial Key Laboratory of the Theory and Computation of Complex Systems, Heilongjiang University, Harbin 150080, P. R. China;1. School of Information and Software Engineering, University of Electronic Science and Technology of China, China;2. School of Mathematical Science, University of Electronic Science and Technology of China, China;3. School of Information Science and Engineering, Chengdu University, China;1. Shiraz University of Technology, Iran;2. Shenzhen University, China;1. Research Center for Intelligent Robotics, School of Astronautics, Northwestern Polytechnical University, Xi’an 710072, China;2. National Key Laboratory of Aerospace Flight Dynamics, School of Astronautics, Northwestern Polytechnical University, Xi’an 710072, China;3. Department of Electrical and Computer Engineering, National University of Singapore, 117576, Singapore;4. Institute for Future, Qingdao University, Qingdao 266071, China;1. School of Automation and Information Engineering, Xi’an University of Technology, China;2. Autonomous Systems and Intelligent Control International Joint Research Center, Xi’an Technological University, China;3. State Key Laboratory of Astronautic Dynamics, China |
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| Abstract: | In the paper, a control algorithm for output regulation problem of nonlinear pure-feedback systems with unknown functions is proposed. The main contributions of the proposed method are not only to avoid Assumptions of unknown functions, but also adopt a non-backstepping control scheme. First, a high-gain state observer with disturbance signals is designed based on the new system that has been converted. Second, an internal model with the observer state is established. Finally, based on Lyapunov analysis and the neural network approximation theory, the control algorithm is proposed to ensure that all the signals of the closed-loop system are the semi-globally uniformly ultimately bounded, and the tracking error converges to a small neighborhood of the origin. Three simulation studies are worked out to show the effectiveness of the proposed approach. |
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