期刊
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
卷 61, 期 2, 页码 1099-1112出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TIE.2013.2253072
关键词
Dynamic surface control; funnel error variable; fuzzy echo state networks (FESNs); prescribed output constraint
资金
- Ministry of Knowledge Economy, Korea, under the Human Resources Development Program for Specialized Environment Navigation/Localization Technology Research Center [NIPA-2012-H1502-12-1002]
- National Research Foundation of Korea [21A20131612324] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
This paper presents a funnel dynamic surface control combined with fuzzy echo state networks (FESNs) for the prescribed tracking performance of a strict feedback multi-input-multi-output (MIMO) nonlinear dynamic system. A new funnel variable is defined so that the funnel virtual control forces the tracking error to fall within funnel boundary, and adaptive FESN method is also proposed to improve the approximation performance in conventional neural network algorithms. A strict feedback controller and adaptive laws for estimating the uncertainties were derived using the recursive steps of dynamic surface control based on the Lyapunov stability theory. Lyapunov stability analysis confirmed the boundedness and convergence of the closed-loop system. The performance of the proposed control scheme was validated by simulations and experimental applications to the tracking control of a MIMO nonlinear system and a robot manipulator.
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