Partial-state-constrained adaptive intelligent tracking control of nonlinear nonstrict-feedback systems with unmodeled dynamics and its application
Summary: In this paper, an adaptive intelligent control scheme is presented to investigate the problem of adaptive tracking control for a class of nonstrict-feedback nonlinear systems with constrained states and unmodeled dynamics. By approximating the unknown nonlinear uncertainties, utilizing Barrier Lyapunov functions (BLFs), and designing a dynamic signal to deal with the constrained states and the unmodeled dynamics, respectively, an adaptive neural network (NN) controller is developed in the frame of the backstepping design. In order to simplify the design process, the nonstrict-feedback form is treated by using the special properties of Gaussian functions. The proposed adaptive control scheme ensures that all variables involved in the closed-loop system are bounded, the corresponding state constraints are not violated. Meanwhile, the tracking error converges to a small neighborhood of the origin. In the end, the proposed intelligent design algorithm is applied to one-link manipulator to demonstrate the effectiveness of the obtained method.
- Adaptive neural-based control for non-strict feedback systems with full-state constraints and unmodeled dynamics
- Neural network-based adaptive asymptotic tracking of nonstrict feedback nonlinear systems with state constraints
- Adaptive tracking control for a class of nonlinear non-strict-feedback systems
- Adaptive neural tracking control for a class of uncertain nonstrict-feedback nonlinear systems
- Adaptive neural dynamic surface control of strict-feedback nonlinear systems with full state constraints and unmodeled dynamics
- A robust adaptive backstepping scheme for nonlinear systems with unmodeled dynamics
- A robust adaptive nonlinear control design
- Adaptive neural network control for a class of nonlinear discrete-time systems
- Adaptive neural network control for coordinated motion of a dual-arm space robot system with uncertain parameters
- Adaptive robust control of SISO nonlinear systems in a semi-strict feedback form
- Adaptive tracking control of uncertain MIMO nonlinear systems with input constraints
- Approximation-based control of nonlinear MIMO time-delay systems
- Barrier Lyapunov functions for the control of output-constrained nonlinear systems
- Decentralized adaptive control of a class of large-scale interconnected nonlinear systems
- Decentralized robust adaptive control of nonlinear systems with unmodeled dynamics
- Design of robust adaptive controllers for nonlinear systems with dynamic uncertainties
- Direct adaptive fuzzy control of nonlinear strict-feedback systems
- Global adaptive control of switched uncertain nonlinear systems: an improved MDADT method
- Global adaptive stabilization of stochastic high-order switched nonlinear non-lower triangular systems
- Output-feedback stochastic nonlinear stabilization
- Robust adaptive observer for nonlinear systems with unmodeled dynamics
- Robust adaptive output-feedback control for nonlinear systems with output unmodeled dynamics
- Systematic design of adaptive controllers for feedback linearizable systems
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