Browse > Article

Adaptive Neural Control of Nonlinear Pure-feedback Systems  

Park, Jang-Hyun (Dept.of Control and Robot Engineering, Mokpo University)
Kim, Seong-Hwan (Dept.of Control and Robot Engineering, Mokpo University)
Chang, Young-Hak (Dept.of Control and Robot Engineering, Mokpo University)
Publication Information
Journal of IKEEE / v.14, no.3, 2010 , pp. 182-189 More about this Journal
Abstract
A new Adaptive neural state-feedback controller for the fully nonaffine pure-feedback nonlinear system are presented in this paper. By reformulating the original pure-feedback system to a standard normal form with respect to newly defined state variables, the proposed controller requires no backstepping design procedure. Avoiding backstepping makes the controller structure and stability analysis considerably simple. The proposed controller employs only one neural network to approximate unknown ideal controllers, which highlights the simplicity of the proposed neural controller. Simulation examples demonstrate the efficiency and performance of the proposed approach.
Keywords
adaptive neural control; pure-feedback nonlinear system;
Citations & Related Records
연도 인용수 순위
  • Reference
1 I. Kanellakopoulos, "Passive adaptive control of nonlinear systems," Int. J. Adapt. Control Signal Processnig, vol. 7, pp. 339-352, 1993.   DOI   ScienceOn
2 M. U. Polycarpou and M. J. Mears, "Stable adaptive tracking of uncertain systems using nonlinearly parameterized on-line approximators," Int. J. Control, vol. 70, no. 3, pp. 363-384, 1998.   DOI   ScienceOn
3 W.-Y. Wang, M.-L. Chan, T.-T. Lee and C.-H. Liu, "Adaptive fuzzy control for strict-feedback canonical nonlinear systems with $H^{¥}$ tracking performance,'" IEEE Trans. System, Man, and Cybernetics-Part B:Cybernetaics, vol. 30, no. 6, pp. 878-885, 2000.   DOI   ScienceOn
4 Y. Li, S. Qiang, X. Zhuang, O. Kaynak, "Robust and adaptive backstepping control for nonlinear systems using RBF neural networks," IEEE Trans. Neural Networks, vol. 15, no. 3, pp. 693-7001, 2004.   DOI   ScienceOn
5 S. S. Ge, C. Wang, "Direct adaptive NNcontrol of a class of nonlinear systems," IEEE Trans. Neural Networks, vol. 13, no. 1, pp. 214-221, 2002.   DOI   ScienceOn
6 J. Q. Gong, B. Yao,"Neural network adaptive robust control of nonlinear systems in semi-strict feedback form," Automatica, vol. 37, pp. 1149-1160, 2001.   DOI   ScienceOn
7 Y. Yang, C. Zhou,"Adaptive fuzzy H￥ stabilization for strict-feedback canonical nonlinear systems via backstepping and small-gain approach," IEEE Trans. Fuzzy Systems, vol. 13, no. 1, pp. 104-114, 2005.   DOI
8 J.-H. Park, S.-H. Kim, C.-J. Moon, "Adaptive Control for Strict-Feedback Nonlinear Systems Without Backstepping," IEEE Trans. Neural Networks, vol. 20, no. 7, pp. 1204-1209, 2009.   DOI
9 S. S. Ge, C. Wang, "Adaptive nn control of uncertain nonlinear pure-feedback systems," Automatica, vol. 38, pp. 671-682, 2002.   DOI   ScienceOn
10 D. Wang, J. Huang, "Adaptive neural network control for a class of uncertain nonlinear systems in pure-feedback form,'' " Automatica, vol. 38, pp. 1365-1372, 2002.   DOI   ScienceOn
11 S. N. Huang, K. K. Tan, and T. H. Lee,"Futher results on adaptive control for a class of nonlinear systmes using neural networks," IEEE Trans. Neural Networks, vol. 14, no. 3, pp. 719-722, 2003.   DOI   ScienceOn
12 J.-H. Park and G.-T. Park, "Robust adaptive fuzzy controller for nonlinear system Using Estimation of Bounds for Approximation Errors,"Fuzzy Sets & Systems, vol. 133, no. 1, pp. 19-36, 2003.   DOI   ScienceOn
13 J.-H. Park, G.-T. Park, S.-H. Kim and C.-J. Moon, "Output-feedback control of uncertain nonlinear systems using a self-structuring adaptive fuzzy observer," Fuzzy Sets & Systems, vol. 151, no. 1, pp. 21-42, Apr., 2005.   DOI   ScienceOn
14 S. S. Ge and C. C. Hang and T. Zhang,"Adaptive neural network control of nonlinear systems by state and output feedback," IEEE Trans. Systems, Man and Cybernetics-Part B:Cybernetics, vol. 29, no. 6, pp. 818-828, 1999.   DOI   ScienceOn
15 J.-H. Park, S.-H. Huh, S.-H. Kim, G.-T. Park,"Direct Adaptive Controller for Nonaffine Nonlinear Systems Using Self-Structuring Neural Networks," IEEE Trans. Neural Networks, vol. 16, no. 2, pp. 414-422, 2005.   DOI   ScienceOn
16 J.-H. Park, G.-T. Park, S.-H. Kim and C.-J. Moon, "Direct Adaptive Self-Structuring Fuzzy Controller for Nonaffine Nonlinear Systems," Fuzzy Sets & Systems, vol. 153, no. 3, pp. 429-445, Aug., 2005.   DOI   ScienceOn
17 L.-X. Wang,"Stable adaptive fuzzy controllers with application to inverted tracking," IEEE Trans. Fuzzy Systems, vol. 26, no. 5, pp. 677-691, 1996.
18 L.-X. Wang,"Stable adaptive fuzzy control of nonlinear systems," IEEE Trans. Fuzzy Systems, vol. 1, no. 2, pp. 146-155, 1993.   DOI   ScienceOn
19 A. Yesildirek, F. L. Lewis,"Feedback linearization using neural network," Automatica, vol. 31, no. 11, pp. 1659-1664, 1995.   DOI   ScienceOn
20 S. Fabri, V. Kadirkamanathan, "Dynamic structure neural networks for stable adaptive control of nonlinear system," IEEE Trans. Neural Networks, vol. 7, no. 5, pp. 1151-1167, 1996.   DOI   ScienceOn
21 J. T. Spooner, K. M. Passino,"Stalbe adaptive control using fuzzy systems and neural networks," IEEE Trans. Fuzzy Systems, vol. 4, no. 3, pp. 339-359, 1996.   DOI   ScienceOn
22 E. Tzirkel-Hancock, F. Fallside,"Stable control of nonlinear systems using neural networks," Robust and Nonlinear Control, vol. 2, pp. 63-68, 1992.   DOI
23 J.-H. Park and G.-T. Park, "Robust Adaptive Fuzzy Controller for Nonaffine Nonlinear Systems with Dynamic Rule Activation," Int. J. Robust and Nonliner Control, vol. 13, no. 2, pp. 117-139, 2003.   DOI   ScienceOn
24 I. Kanellakopoulos, P. V. Kokotovic, and A. S. Morse,"Systematic design of adaptive controllers for feedback linearizable systems," IEEE Trans. Autom. Control, vol. 36, no. 11, pp. 1241-1253, 1991.   DOI   ScienceOn
25 M. Krstic, I. Kanellakopoulos, and P. V. Kokotovic,"Adaptive nonlinear control without overparametrization," Syst. Control Lett, vol. 19, pp. 177-1185, 1992.   DOI   ScienceOn
26 S. Behatsh,"Robust output tracking for nonlinear systems," Int. J. Control, vol. 51, no. 6, pp. 1381-1407, 1990.   DOI
27 A. J. Calise, N. Hovakimyan, M. Idan,"Adaptive output feedback control of nonlinear systems using neural networks," Automatica, vol. 37, no. 1, pp. 1201-1211, 2001.   DOI
28 C. Wang, D. J. Hill, and S. S. Ge, G. Chem "An ISS-modular approach for adaptive neural control of pure-feedback systems," Automatica, vol. 42, pp. 723-732, 2006.   DOI   ScienceOn
29 T. P. Zhang, S. S. Ge, "Adaptive dynamic surface control of nonlinear systems with unknown dead zone in pure feddback form," autimatica, vol. 44, pp. 1895-1903, 2008.   DOI   ScienceOn
30 B. Ren, S. S. Ge, C.-Y. Su, T. H. Lee, "Adaptive Neural Control for a Class of Uncertain Nonlinear Systems in Pure-Feedback Form with Hysteresis Input," IEEE Trans. Sys. man, and Cybern.-part B:Cybern, vol , no , pp, 2008.
31 P. A. Ioannou and J. Sun, Robust Adaptive Control, EnglewoodCliffs, NJ:Prentice-Hall, 1996.
32 J.-H. Park, S.-H. Kim, "Direct Adaptive Output-Feedback Fuzzy Controller for Nonaffine Nonlinear System," IEE Proceedings-Control Theory and Applications, vol. 151, no. 1, pp. 65-72. 2004.   DOI   ScienceOn
33 Y. Yang, G. Geng, J. Ren, "A combined backstepping and small-gain approach to robust adaptive fuzzy control for strict-feedback nonlinear systems,'" IEEE Trans. System, Man, and Cybernetics - Part A, vol. 34, no. 3, pp. 406-420, 2004.   DOI   ScienceOn