期刊
IEEE TRANSACTIONS ON NEURAL NETWORKS
卷 21, 期 11, 页码 1804-1816出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TNN.2010.2073719
关键词
Adaptive control; backstepping; neural network; nonlinear time-delay systems; pure-feedback systems
类别
资金
- National Natural Science Foundation of China [61004065, 60934001, 90816028]
- Natural Science Foundation of Guangdong Province [10451064101005188]
- South China University of Technology (SCUT) [2009ZM0177]
- Natural Science Youth Foundation of SCUT [2zdE5090770]
- 973 program [2007CB311005]
- Ministry of Education, Science and Technology, Korea [R31-2008-000-20004-0]
- National Research Foundation of Korea [R31-2008-000-20004-0] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
This paper presents adaptive neural tracking control for a class of non-affine pure-feedback systems with multiple unknown state time-varying delays. To overcome the design difficulty from non-affine structure of pure-feedback system, mean value theorem is exploited to deduce affine appearance of state variables x(i) as virtual controls alpha(i), and of the actual control u. The separation technique is introduced to decompose unknown functions of all time-varying delayed states into a series of continuous functions of each delayed state. The novel Lyapunov-Krasovskii functionals are employed to compensate for the unknown functions of current delayed state, which is effectively free from any restriction on unknown time-delay functions and overcomes the circular construction of controller caused by the neural approximation of a function of u and (u) over dot. Novel continuous functions are introduced to overcome the design difficulty deduced from the use of one adaptive parameter. To achieve uniformly ultimate boundedness of all the signals in the closed-loop system and tracking performance, control gains are effectively modified as a dynamic form with a class of even function, which makes stability analysis be carried out at the present of multiple time-varying delays. Simulation studies are provided to demonstrate the effectiveness of the proposed scheme.
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