Neuroadaptive Asymptotic Tracking Control of Nonlinear Systems with Multiple Uncertainties
Abstract
:1. Introduction
- (1)
- Without requiring definite bounds of exogenous disturbances, several novel control schemes that can reject matched uncertainties and, meanwhile, mismatched uncertainties are put forward;
- (2)
- By constructing a set of asymptotic filters, the asymptotic stability can be acquired without an “explosion of complexity”;
- (3)
- The synthesized controllers with simple control schemes can be easily applied to extensive plants without much complexity.
2. General Control Issue Formulation
3. Command Filtered Robust Adaptive Controller Design
3.1. NN Adaptation
3.2. Control Schemes Design
3.3. Main Results
4. Verification Case
- (1)
- CRAC: This is the presented command filtered robust neuroadaptive controller with control scheme I. The control gains are adjusted as: γ1 = 100, γ2 = 100 and γ3 = 100. The adaptation gains are chosen as: κ1 = 5, κ2 = 1 and k2 = 10, k3 = 1. The design parameters of CFs are tuned as: wc1 = wc2 = 1.0 × 10−3. In addition, p1(t) = p2(t) = q2(t) = q3(t) = 100/(t2 + 0.1). The NN adaptation rate matrices are selected as Γ2 = 5.0 × 10−2I11×11 and 2.0 × 103I11×11. For , the center vector is evenly spaced in [−1, 1] × [−2, 2] and the widths for x1 and x2 are both 1. For , the center vector is evenly spaced in [−1, 1] × [−2, 2] × [−600, 600] and the widths for x1, x2 and x3 are 500, 500 and 1000, respectively.
- (2)
- CRC: This is the control scheme that is the same as CRAC but without NN compensation.
- (3)
- CFC: This is the control scheme that is same as CRAC but without NN compensation and the robust terms φ1s, φ2s, β2s and us.
5. Conclusions
Funding
Data Availability Statement
Conflicts of Interest
Appendix A
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Yang, G. Neuroadaptive Asymptotic Tracking Control of Nonlinear Systems with Multiple Uncertainties. Mathematics 2023, 11, 2978. https://doi.org/10.3390/math11132978
Yang G. Neuroadaptive Asymptotic Tracking Control of Nonlinear Systems with Multiple Uncertainties. Mathematics. 2023; 11(13):2978. https://doi.org/10.3390/math11132978
Chicago/Turabian StyleYang, Guichao. 2023. "Neuroadaptive Asymptotic Tracking Control of Nonlinear Systems with Multiple Uncertainties" Mathematics 11, no. 13: 2978. https://doi.org/10.3390/math11132978
APA StyleYang, G. (2023). Neuroadaptive Asymptotic Tracking Control of Nonlinear Systems with Multiple Uncertainties. Mathematics, 11(13), 2978. https://doi.org/10.3390/math11132978