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Observer-based adaptive neural tracking control for output-constrained switched MIMO nonstrict-feedback nonlinear systems with unknown dead zone

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Abstract

In this paper, the issue of adaptive neural tracking control for uncertain switched multi-input multi-output (MIMO) nonstrict-feedback nonlinear systems with average dwell time is studied. The system under consideration includes unknown dead-zone inputs and output constraints. The uncertain nonlinear functions are identified via neural networks. Also, neural networks-based switched observer is constructed to approximate all unmeasurable states. By means of the information for dead-zone slopes and barrier Lyapunov function (BLF), the problems of dead-zone inputs and output constraints are tackled. Furthermore, dynamic surface control (DSC) scheme is employed to ensure that the computation burden is greatly reduced. Then, an observer-based adaptive neural control strategy is developed on the basis of backstepping technique and multiple Lyapunov functions approach. Under the designed controller, all the signals existing in switched closed-loop system are bounded, and system outputs can track the target trajectories within small bounded errors. Finally, the feasibility of the presented control algorithm is proved via simulation results.

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Authors and Affiliations

  1. College of Engineering, Bohai University, Jinzhou, 121013, Liaoning, China

    Li Ma, Xin Huo & Xudong Zhao

  2. Faculty of Electronic Information and Electrical Engineering, Dalian University of Technology, Dalian, 116024, Liaoning, China

    Xudong Zhao

  3. School of Engineering, Qufu Normal University, Rizhao, 276826, China

    Guang Deng Zong

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  1. Li Ma
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  2. Xin Huo
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  3. Xudong Zhao
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  4. Guang Deng Zong
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Correspondence to Xudong Zhao.

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This work was partially supported by the National Natural Science Foundation of China (61573069,61722302).

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Ma, L., Huo, X., Zhao, X. et al. Observer-based adaptive neural tracking control for output-constrained switched MIMO nonstrict-feedback nonlinear systems with unknown dead zone. Nonlinear Dyn 99, 1019–1036 (2020). https://doi.org/10.1007/s11071-019-05322-w

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  • DOI: https://doi.org/10.1007/s11071-019-05322-w

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