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Adaptive Controller Design for Uncertain Nonlinear Systems with Input Magnitude and Rate Limitations
Yuan, RY; Yi, JQ; Yu, WS; Fan, GL
2011
Conference Name2011 AMERICAN CONTROL CONFERENCE
Source PublicationAmerican Control Conference (ACC)
Pages3536-3541
Conference Date2011
Conference PlaceSan Francisco, CA, USA
AbstractAn adaptive controller for a class of multiple- input-multiple-output(MIMO) uncertain nonlinear systems with extern disturbance and control input limitations is presented in this paper. The controller is designed with a priori consideration of input limitation effects, hence it can generate control signals satisfying input limitations. This controller uses adaptive radial basis function(RBF) neural networks to approximate the unknown nonlinearities. To compensate the effects of input limitations, an auxiliary system is constructed and used in neural network parameter update laws. Furthermore, in order to deal with approximation errors for unknown nonlinearities and extern disturbances, a supervisory control is designed, which guarantees that the closed loop system achieves a desired level H∞ tracking performance. The closed loop system performance is analyzed by Lyapunov method. Steady state and transient tracking performance index are established and can be adjusted by design parameters. Computer simulations are presented to illustrate the efficiency and tracking performance of the proposed controller.
KeywordInput Saturation Rbf Neural Network Adaptive Control Nonlinear System H∞ Control Performance
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/5560
Collection综合信息系统研究中心
Corresponding AuthorYuan, RY
Recommended Citation
GB/T 7714
Yuan, RY,Yi, JQ,Yu, WS,et al. Adaptive Controller Design for Uncertain Nonlinear Systems with Input Magnitude and Rate Limitations[C],2011:3536-3541.
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