Adaptive Control Based on Neural Networks for an Uncertain 2-DOF Helicopter System With Input Deadzone and Output Constraints  

作　　者：Yuncheng Ouyang Lu Dong Lei Xue Changyin Sun 

机构地区：[1]IEEE [2]the School of Automation and the Key Laboratory of Measurement and Control of Complex Systems of Engineering,Ministry of Education, Southeast University

出　　处：《IEEE/CAA Journal of Automatica Sinica》2019年第3期807-815,共9页自动化学报（英文版）

基　　金：supported by the National Natural Science Foundation of China(61803085,61806052,U1713209);the Natural Science Foundation of Jiangsu Province of China(BK20180361)

摘　　要：In this paper, a study of control for an uncertain2-degree of freedom(DOF) helicopter system is given. The2-DOF helicopter is subject to input deadzone and output constraints. In order to cope with system uncertainties and input deadzone, the neural network technique is introduced because of its capability in approximation. In order to update the weights of the neural network, an adaptive control method is utilized to improve the system adaptability. Furthermore, the integral barrier Lyapunov function(IBLF) is adopt in control design to guarantee the condition of output constraints and boundedness of the corresponding tracking errors. The Lyapunov direct method is applied in the control design to analyze system stability and convergence. Finally, numerical simulations are conducted to prove the feasibility and effectiveness of the proposed control based on the model of Quanser's 2-DOF helicopter.In this paper, a study of control for an uncertain 2-degree of freedom(DOF) helicopter system is given. The2-DOF helicopter is subject to input deadzone and output constraints. In order to cope with system uncertainties and input deadzone, the neural network technique is introduced because of its capability in approximation. In order to update the weights of the neural network, an adaptive control method is utilized to improve the system adaptability. Furthermore, the integral barrier Lyapunov function(IBLF) is adopt in control design to guarantee the condition of output constraints and boundedness of the corresponding tracking errors. The Lyapunov direct method is applied in the control design to analyze system stability and convergence. Finally, numerical simulations are conducted to prove the feasibility and effectiveness of the proposed control based on the model of Quanser's 2-DOF helicopter.

关 键 词：2-degree of FREEDOM (DOF) helicopter adaptive control INPUT DEADZONE integral barrier Lyapunov function neural networks output constraints 

分 类 号：TP[自动化与计算机技术]