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Neural networks-based adaptive tracking control for full-state constrained switched nonlinear systems with periodic disturbances and actuator saturation

Author

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  • Yumeng Cao
  • Ning Xu
  • Huanqing Wang
  • Xudong Zhao
  • Adil M. Ahmad

Abstract

In this paper, an adaptive tracking control approach is developed for full-state constrained switched nonlinear systems that have actuator saturation, periodic disturbances and unknown control direction. To deal with the full-state constraints, the Barrier Lyapunov functions are introduced to limit the state variables within the corresponding constraint conditions. Meanwhile, the Fourier series expansion technology is employed to deal with unknown periodic disturbances and unknown nonlinear dynamics jointly. Additionally, a Nussbaum-type function is used in the controller design to cope with the and unknown control gain and input saturation. On the basis of the Lyapunov stability theory, it is demonstrated rigorously that all signals of the closed-loop system are uniformly ultimately bounded, and the proposed controller ensures that the tracking error is kept within a compact set close to zero. In the end, the validity of the designed control protocol is verified by a simulation example.

Suggested Citation

  • Yumeng Cao & Ning Xu & Huanqing Wang & Xudong Zhao & Adil M. Ahmad, 2023. "Neural networks-based adaptive tracking control for full-state constrained switched nonlinear systems with periodic disturbances and actuator saturation," International Journal of Systems Science, Taylor & Francis Journals, vol. 54(14), pages 2689-2704, October.
    • Handle: RePEc:taf:tsysxx:v:54:y:2023:i:14:p:2689-2704
    DOI: 10.1080/00207721.2023.2241959
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    Cited by:

    1. Liu, Shanlin & Niu, Ben & Karimi, Hamid Reza & Zhao, Xudong, 2024. "Self-triggered fixed-time bipartite fault-tolerant consensus for nonlinear multiagent systems with function constraints on states," Chaos, Solitons & Fractals, Elsevier, vol. 178(C).
    2. Nie, Liduo & Wang, Xin, 2024. "Neural-network-based adaptive control of strict-feedback nonlinear systems with actuator faults: Event-triggered communications strategy," Chaos, Solitons & Fractals, Elsevier, vol. 181(C).

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