Adaptive neural network tracking control for underactuated systems with matched and mismatched disturbances.pdf (848.23 kB)
Download file

Adaptive neural network tracking control for underactuated systems with matched and mismatched disturbances

Download (848.23 kB)
journal contribution
posted on 03.03.2022, 16:10 by Pengcheng Liu, Hongnian Yu, Shuang Cang
This paper studies neural network-based tracking control of underactuated systems with unknown parameters and with matched and mismatched disturbances. Novel adaptive control schemes are proposed with the utilization of multi-layer neural networks, adaptive control and variable structure strategies to cope with the uncertainties containing approximation errors, unknown base parameters and time-varying matched and mismatched external disturbances. Novel auxiliary control variables are designed to establish the controllability of the non-collocated subset of the underactuated systems. The approximation errors and the matched and mismatched external disturbances are efficiently counteracted by appropriate design of robust compensators. Stability and convergence of the time-varying reference trajectory are shown in the sense of Lyapunov. The parameter updating laws for the designed control schemes are derived using the projection approach to reduce the tracking error as small as desired. Unknown dynamics of the non-collocated subset is approximated through neural networks within a local region. Finally, simulation studies on an underactuated manipulator and an underactuated vibro-driven system are conducted to verify the effectiveness of the proposed control schemes.

History

Published in

Nonlinear Dynamics

Publisher

Springer

Version

VoR (Version of Record)

Citation

Liu, P., Yu, H. and Cang, S. (2019) 'Adaptive neural network tracking control for underactuated systems with matched and mismatched disturbances', Nonlinear Dynamics, 98(2), pp.1-18. DOI: 10.1007/s11071-019-05170-8.

Electronic ISSN

1573-269X

Cardiff Met Affiliation

  • Cardiff School of Technologies

Cardiff Met Authors

Pengcheng Liu

Copyright Holder

© The Authors

Language

en