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Type: Journal article
Title: Novel neural control for a class of uncertain pure-feedback systems
Author: Shen, Q.
Shi, P.
Zhang, T.
Lim, C.
Citation: IEEE Transactions on Neural Networks and Learning Systems, 2014; 25(4):718-727
Publisher: IEEE
Issue Date: 2014
ISSN: 2162-2388
Statement of
Qikun Shen, Peng Shi, Tianping Zhang, and Cheng-Chew Lim
Abstract: This paper is concerned with the problem of adaptive neural tracking control for a class of uncertain pure-feedback nonlinear systems. Using the implicit function theorem and backstepping technique, a practical robust adaptive neural control scheme is proposed to guarantee that the tracking error converges to an adjusted neighborhood of the origin by choosing appropriate design parameters. In contrast to conventional Lyapunov-based design techniques, an alternative Lyapunov function is constructed for the development of control law and learning algorithms. Differing from the existing results in the literature, the control scheme does not need to compute the derivatives of virtual control signals at each step in backstepping design procedures. Furthermore, the scheme requires the desired trajectory and its first derivative rather than its first n derivatives. In addition, the useful property of the basis function of the radial basis function, which will be used in control design, is explored. Simulation results illustrate the effectiveness of the proposed techniques.
Keywords: Adaptive control; neural control; pure feedback
DOI: 10.1109/TNNLS.2013.2280728
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Electrical and Electronic Engineering publications

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