Abstract
This paper presents a novel control methodology for the tracking control of a high-order continuous time nonlinear systems with unknown dynamics and external disturbance. the control signal consists of the robust integral of the sign of the error (RISE) feedback signal multiplied with an adaptive gain plus neural network (NN) output. the two-layer NN learns the system dynamics in an online manner while residual reconstruction errors and the external bounded system disturbances are overcome by the RISE signal. Semi-global asymptotic tracking performance is theoretically guaranteed by using the Lyapunov standard method, while the NN weights and all other signals are shown to be bounded. Further, simulations results are present to illustrate the control performance. © 2011 IEEE.
Recommended Citation
Q. Yang et al., "NN/RISE-Based Asymptotic Tracking Control of Uncertain Nonlinear Systems," IEEE International Symposium on Intelligent Control - Proceedings, pp. 1361 - 1366, article no. 6045425, Institute of Electrical and Electronics Engineers, Nov 2011.
The definitive version is available at https://doi.org/10.1109/ISIC.2011.6045425
Department(s)
Electrical and Computer Engineering
Second Department
Computer Science
International Standard Book Number (ISBN)
978-145771104-6
Document Type
Article - Conference proceedings
Document Version
Citation
File Type
text
Language(s)
English
Rights
© 2024 Institute of Electrical and Electronics Engineers, All rights reserved.
Publication Date
07 Nov 2011
