引用本文:王加朋,胡跃明,罗家祥.一类非线性切换系统的自适应神经动态面控制[J].控制理论与应用,2017,34(10):1396~1402.[点击复制]
WANG Jia-peng,HU Yue-ming,LUO Jia-xiang.Adaptive neural dynamic surface tracking control for a class of switched nonlinear systems[J].Control Theory and Technology,2017,34(10):1396~1402.[点击复制]
一类非线性切换系统的自适应神经动态面控制
Adaptive neural dynamic surface tracking control for a class of switched nonlinear systems
摘要点击 2532  全文点击 1091  投稿时间：2017-01-18  修订日期：2017-04-26
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DOI编号  10.7641/CTA.2017.70045
  2017,34(10):1396-1402
中文关键词  神经网络控制  切换系统  动态面控制  共同Lyapunov法  后推法
英文关键词  neural network control  switching systems  dynamic surface control  common Lyapunov function  backstepping
基金项目  国家自然科学基金项目(61573146), 国家科技重大专项(2014ZX02503–3), 中央高校业务经费项目
作者单位E-mail
王加朋 华南理工大学 自动化科学与工程学院 learningwjp@gmail.com 
胡跃明 华南理工大学 自动化科学与工程学院  
罗家祥* 华南理工大学 自动化科学与工程学院 luojx@scut.edu.cn 
中文摘要
      针对一类严格反馈型不确定非线性切换系统, 提出了一种鲁棒自适应神经动态面跟踪控制方案. 该方案在 基于共同Lyapunov函数的后推法设计中引入动态面控制(dynamic surface control, DSC)技术, 利用径向基神经网络 逼近构造的未知共同上界函数, 并将滤波器输出导数取代传统中间变量作为神经网络输入, 降低了网络输入维度; 同时利用Young’s不等式技术有效减少了神经网络控制器的可调参数数目. 此外, 理论证明了该控制方案可以保证 在任意切换下闭环系统所有信号半全局一致终结有界, 且跟踪误差在有限时间收敛到零的小邻域内. 实验结果表明 了所提方法达到了很好的跟踪性能.
英文摘要
      An adaptive neural dynamic surface tracking control scheme is presented for a class of uncertain switched nonlinear systems in strict-feedback form under arbitrary switching. In this scheme, dynamic surface control (DSC) technology is introduced into backstepping design approach with common Lyapunov function method. The radial basis function neural network is adopted to approximate constructed unknown upper bound function, and with the help of DSC, the derivatives of filter output variables instead of traditional intermediate variables are taken as the neural network (NN) inputs. As a result, the dimension of NN inputs is reduced. Simultaneously, Yong’s inequality is used to reduce the number of adjustable parameters of the control scheme. Moreover, it is proved that the proposed scheme is able to guarantee that all the signals in the resulting closed-loop system are semi-globally uniformly ultimately bounded, with tracking error converging to a small neighborhood of zero by appropriately choosing design parameters. Simulation studies are carried out to illustrate the effectiveness of the proposed control.