TY - GEN
T1 - Adaptive dynamic surface control for a class of strict-feedback nonlinear systems with unknown backlash-like hysteresis
AU - Ren, Beibei
AU - San, Phyo Phyo
AU - Ge, Shuzhi Sam
AU - Lee, Tong Heng
PY - 2009
Y1 - 2009
N2 - In this paper, we investigate the control design for a class of strict-feedback nonlinear systems preceded by unknown backlash-like hysteresis. Using the characteristics of backlash-like hysteresis, adaptive dynamic surface control (DSC) is developed without constructing a hysteresis inverse. The explosion of complexity in traditional backstepping design is avoided by utilizing DSC. Function uncertainties are compensated for using neural networks due to their universal approximation capabilities. Through Lyapunov synthesis, the closedloop control system is proved to be semi-globally uniformly ultimately bounded (SGUUB), and the tracking error converges to a small neighborhood of zero. Simulation results are provided to illustrate the performance of the proposed approach.
AB - In this paper, we investigate the control design for a class of strict-feedback nonlinear systems preceded by unknown backlash-like hysteresis. Using the characteristics of backlash-like hysteresis, adaptive dynamic surface control (DSC) is developed without constructing a hysteresis inverse. The explosion of complexity in traditional backstepping design is avoided by utilizing DSC. Function uncertainties are compensated for using neural networks due to their universal approximation capabilities. Through Lyapunov synthesis, the closedloop control system is proved to be semi-globally uniformly ultimately bounded (SGUUB), and the tracking error converges to a small neighborhood of zero. Simulation results are provided to illustrate the performance of the proposed approach.
KW - Dynamic surface control (DSC)
KW - Hysteresis
KW - Neural networks(NNs)
UR - http://www.scopus.com/inward/record.url?scp=70449657152&partnerID=8YFLogxK
U2 - 10.1109/ACC.2009.5160295
DO - 10.1109/ACC.2009.5160295
M3 - Conference contribution
AN - SCOPUS:70449657152
SN - 9781424445240
T3 - Proceedings of the American Control Conference
SP - 4482
EP - 4487
BT - 2009 American Control Conference, ACC 2009
T2 - 2009 American Control Conference, ACC 2009
Y2 - 10 June 2009 through 12 June 2009
ER -