期刊
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS
卷 357, 期 16, 页码 11518-11544出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.jfranklin.2019.07.021
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资金
- National Natural Science Foundation of China [61573069,61722302]
This paper concentrates upon the problem of adaptive neural finite-time tracking control for uncertain nonstrict-feedback nonlinear systems with input saturation. The design difficulty of non-smooth input saturation nonlinearity is solved by applying a smooth non-affine function to approximate the saturation signal. Neural networks, as a kind of specialized function estimators, are used to estimate the uncertain function. Meanwhile, a neural network-based observer is constructed to observe the unavailable states, and thus an observer-based adaptive finite-time tracking control strategy is developed by combining dynamic surface control (DSC) technique and backstepping approach. Furthermore, the stability of the considered system is analyzed via semi-global practical finite-time stability theory. Under the proposed control method, all the signals in the closed-loop system are bounded, and the system output can almost surely track the desired trajectory within a specified bounded error in a finite time. In the end, two examples are adopted to illustrate the validity of our results. (C) 2019 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.
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