Neural network control of a class of nonlinear systems with actuator saturation

IEEE Transactions on Neural Networks
Gao Wenzhi, Rastko R Selmic

Abstract

A neural net (NN)-based actuator saturation compensation scheme for the nonlinear systems in Brunovsky canonical form is presented. The scheme that leads to stability, command following, and disturbance rejection is rigorously proved and verified using a general "pendulum type" and a robot manipulator dynamical systems. Online weights tuning law, the overall closed-loop system performance, and the boundedness of the NN weights are derived and guaranteed based on Lyapunov approach. The actuator saturation is assumed to be unknown and the saturation compensator is inserted into a feedforward path. Simulation results indicate that the proposed scheme can effectively compensate for the saturation nonlinearity in the presence of system uncertainty.

References

Mar 11, 2006·IEEE Transactions on Neural Networks·Gao Wenzhi, Rastko R Selmic
Feb 6, 2008·IEEE Transactions on Neural Networks·S Lin, A A Goldenberg
Jan 1, 1996·IEEE Transactions on Neural Networks·F L LewisK Liu
Jan 1, 1995·IEEE Transactions on Neural Networks·B Igelnik, Y H Pao
Jan 1, 1990·IEEE Transactions on Neural Networks·K S Narendra, K Parthasarathy

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Citations

Apr 29, 2015·IEEE Transactions on Neural Networks and Learning Systems·Zhi LiuChun Lung Philip Chen
Nov 15, 2014·IEEE Transactions on Cybernetics·Qi ZhouMingyu Wang
Dec 23, 2014·IEEE Transactions on Neural Networks and Learning Systems·Kasra EsfandiariHeidar Ali Talebi
Nov 25, 2014·IEEE Transactions on Neural Networks and Learning Systems·Zhi LiuChun Lung Philip Chen
Feb 1, 2013·IEEE Transactions on Neural Networks and Learning Systems·Rong-Jong Wai, Rajkumar Muthusamy
Jul 22, 2006·IEEE Transactions on Neural Networks·G Loreto, R Garrido
Oct 10, 2008·IEEE Transactions on Neural Networks·Sung Jin YooYoon Ho Choi
Aug 15, 2008·IEEE Transactions on Neural Networks·Lipo P Wang, Chunru R Wan
Aug 15, 2008·IEEE Transactions on Neural Networks·He HuangJinde Cao
May 10, 2008·IEEE Transactions on Neural Networks·Huai-Ning Wu, Han-Xiong Li
Mar 28, 2007·IEEE Transactions on Neural Networks·Guido HerrmannIan Postlethwaite
Mar 11, 2006·IEEE Transactions on Neural Networks·Gao Wenzhi, Rastko R Selmic
Sep 12, 2008·IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics : a Publication of the IEEE Systems, Man, and Cybernetics Society·Rong-Jong Wai, Zhi-Wei Yang
Feb 24, 2011·IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics : a Publication of the IEEE Systems, Man, and Cybernetics Society· Bong Seok ParkYoon Ho Choi
Mar 23, 2011·IEEE Transactions on Neural Networks·Mario L Fravolini, Giampiero Campa
Feb 12, 2017·IEEE Transactions on Neural Networks and Learning Systems·Licheng WangFuad E Alsaadi
Jul 12, 2018·IEEE Transactions on Neural Networks and Learning Systems·Xuebo YangHuijun Gao
Apr 14, 2018·Neural Computation·Yazhou Hu, Bailu Si

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