In this paper, the adaptive control problem based on the neural network technique is studied for a class of strict-feedback nonlinear systems with mismatching nonlinear uncertainties that may not be linearly parametrized. By combining the backstepping technique with control design, an adaptive neural controller is synthesized to attenuate the effect of approximation errors and guarantee an tracking performance for the closed-loop system. In this work, the structural property of the system is utilized to synthesize the controller such that the singularity problem of the controller usually encountered in feedback linearization design is avoided. A numerical simulation illustrating the control performance of the closed-loop system is provided.
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September 2005
Technical Papers
Adaptive Control Using Backstepping Design and Neural Networks
Yugang Niu,
Yugang Niu
School of Information Science and Engineering,
East China University of Science and Technology
, Shanghai, 200237, People's Republic of China
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James Lam,
James Lam
Department of Mechanical Engineering,
University of Hong Kong
, Pokfulam Road, Hong Kong
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Xingyu Wang,
Xingyu Wang
School of Information Science and Engineering,
East China University of Science and Technology
, Shanghai, 200237, People's Republic of China
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Daniel W. C. Ho
Daniel W. C. Ho
Department of Mathematics,
City University of Hong Kong
, Tat Chee Avenue, Hong Kong
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Yugang Niu
School of Information Science and Engineering,
East China University of Science and Technology
, Shanghai, 200237, People's Republic of China
James Lam
Department of Mechanical Engineering,
University of Hong Kong
, Pokfulam Road, Hong Kong
Xingyu Wang
School of Information Science and Engineering,
East China University of Science and Technology
, Shanghai, 200237, People's Republic of China
Daniel W. C. Ho
Department of Mathematics,
City University of Hong Kong
, Tat Chee Avenue, Hong KongJ. Dyn. Sys., Meas., Control. Sep 2005, 127(3): 478-485 (8 pages)
Published Online: June 24, 2004
Article history
Received:
March 27, 2003
Revised:
June 24, 2004
Citation
Niu, Y., Lam, J., Wang, X., and Ho, D. W. C. (June 24, 2004). "Adaptive Control Using Backstepping Design and Neural Networks." ASME. J. Dyn. Sys., Meas., Control. September 2005; 127(3): 478–485. https://doi.org/10.1115/1.1978905
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