Release Time:2019-03-12  Hits:

Indexed by: Journal Article

Date of Publication: 2017-07-01

Journal: IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS

Included Journals: Scopus、EI、SCIE

Volume: 28

Issue: 7

Page Number: 1520-1530

ISSN: 2162-237X

Key Words: Adaptive neural network (NN) control; input saturation; nonlinear systems; observer

Abstract: This paper is concerned with the problem of adaptive tracking control for a class of uncertain nonlinear systems with nonsymmetric input saturation and immeasurable states. The radial basis function of neural network (NN) is employed to approximate unknown functions, and an NN state observer is designed to estimate the immeasurable states. To analyze the effect of input saturation, an auxiliary system is employed. By the aid of adaptive backstepping technique, an adaptive tracking control approach is developed. Under the proposed adaptive tracking controller, the boundedness of all the signals in the closed-loop system is achieved. Moreover, distinct from most of the existing references, the tracking error can be bounded by an explicit function of design parameters and saturation input error. Finally, an example is given to show the effectiveness of the proposed method.