Adaptive Dynamic Surface Control for a Class of Strict-Feedback Nonlinear Systems with Unknown Backlash-Like Hysteresis

被引：89
|
作者：
Ren, Beibei [1 ]
San, Phyo Phyo [1 ]
Ge, Shuzhi Sam [1 ]
Lee, Tong Heng [1 ]
机构：
[1] Natl Univ Singapore, Dept Elect & Comp Engn, Singapore 117576, Singapore
来源：
2009 AMERICAN CONTROL CONFERENCE, VOLS 1-9 | 2009年
关键词：
Dynamic surface control (DSC); hysteresis; neural networks(NNs);
D O I：
10.1109/ACC.2009.5160295
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, we investigate the control design for a class of strict-feedback nonlinear systems preceded by unknown backlash-like hysteresis. Using the characteristics of backlash-like hysteresis, adaptive dynamic surface control (DSC) is developed without constructing a hysteresis inverse. The explosion of complexity in traditional backstepping design is avoided by utilizing DSC. Function uncertainties are compensated for using neural networks due to their universal approximation capabilities. Through Lyapunov synthesis, the closed-loop control system is proved to be semi-globally uniformly ultimately bounded (SGUUB), and the tracking error converges to a small neighborhood of zero. Simulation results are provided to illustrate the performance of the proposed approach.
引用
收藏
页码：4482 / 4487
页数：6
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