Adaptive Tracking Control for Output-Constrained Switched MIMO Pure-Feedback Nonlinear Systems with Input Saturation  

作　　者：ZHANG Haoyan ZHAO Xudong WANG Huanqing NIU Ben XU Ning 

机构地区：[1]College of Control Science and Engineering,Bohai University,Jinzhou 121013,China [2]Faculty of Electronic Information and Electrical Engineering,Dalian University of Technology,Dalian 116024,China [3]College of Mathematical Science,Bohai University,Jinzhou 121013,China [4]School of Information Science and Engineering,Shandong Normal University,Jinan 250014,China [5]College of Information Science and Technology,Bohai University,Jinzhou 121013,China

出　　处：《Journal of Systems Science & Complexity》2023年第3期960-984,共25页系统科学与复杂性学报（英文版）

基　　金：partially supported by the National Natural Science Foundation of China under Grant No.62203064;the Eduction Committee Liaoning Province,China under Grant No. LJ2019002

摘　　要：In this paper,an adaptive neural tracking control scheme for a class of uncertain switched multi-input multi-output(MIMO)pure-feedback nonlinear systems is proposed.The considered MIMO pure-feedback nonlinear system contains input and output constraints,completely unknown nonlinear functions and time-varying external disturbances.The unknown nonlinear functions representing system uncertainties are identified via radial basis function neural networks(RBFNNs).Then,the Nussbaum function is utilized to deal with the nonlinearity issue caused by the input saturation.To prevent system outputs from violating prescribed constraints,the barrier Lyapunov functions(BLFs)are introduced.Also,a switched disturbance observer is designed to make the time-varying external disturbances estimable.Based on the backstepping recursive design technique and the Lyapunov stability theory,the developed control method is verified applicable to ensure the boundedness of all signals in the closed-loop system and make the system output track given reference signals well.Finally,a numerical simulation is given to demonstrate the effectiveness of the proposed control method.

关 键 词：Adaptive control input saturation neural networks output constraints switched MIMO pure-feedback nonlinear systems 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]