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research-article

Adaptive robust backstepping output tracking control for a class of uncertain nonlinear systems using neural network

[+] Author and Article Information
Yuchao Wang

College of Mechanical and Electrical, Engineering, Sichuan Agricultural, University, Yaan 625014, China
wangyc0918@yahoo.co.jp

Lijia Xu

College of Mechanical and Electrical, Engineering, Sichuan Agricultural, University, Yaan 625014, China
lijiaxu13@hotmail.com

Hansheng Wu

Department of Information Science, Prefectural University of Hiroshima, Hiroshima 734-8558, Japan
hansheng@pu-hiroshima.ac.jp

1Corresponding author.

ASME doi:10.1115/1.4039151 History: Received September 29, 2016; Revised November 30, 2017

Abstract

The problem of robust output tracking is studied for a class of uncertain nonlinear systems in the presence of structure uncertainties, external disturbances, and unknown time--varying virtual control coefficients. In this study, it is supposed that the upper bounds of external disturbances and that the upper and lower bounds of unknown time--varying virtual control coefficients are unknown. By employing a simple structure neural network(NN), the unknown structure uncertainties are approximated. A class of backstepping approach--based adaptive robust controllers is synthesized for such uncertain nonlinear systems. By making use of Lyapunov functional approach, it is also shown that the proposed adaptive robust backstepping output tracking controller can guarantee the tracking error between the system output and the desired reference signal to converge asymptotically to zero. Finally, a numerical example is given to demonstrate the effectiveness of the proposed controller.

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