TY - JOUR
T1 - Singularity-free neural control for the exponential trajectory tracking in multiple-input uncertain systems with unknown deadzone nonlinearities
AU - Pérez-Cruz, J. Humberto
AU - Rubio, José De Jesús
AU - Encinas, Rodrigo
AU - Balcazar, Ricardo
PY - 2014
Y1 - 2014
N2 - The trajectory tracking for a class of uncertain nonlinear systems in which the number of possible states is equal to the number of inputs and each input is preceded by an unknown symmetric deadzone is considered. The unknown dynamics is identified by means of a continuous time recurrent neural network in which the control singularity is conveniently avoided by guaranteeing the invertibility of the coupling matrix. Given this neural network-based mathematical model of the uncertain system, a singularity-free feedback linearization control law is developed in order to compel the system state to follow a reference trajectory. By means of Lyapunov-like analysis, the exponential convergence of the tracking error to a bounded zone can be proven. Likewise, the boundedness of all closed-loop signals can be guaranteed.
AB - The trajectory tracking for a class of uncertain nonlinear systems in which the number of possible states is equal to the number of inputs and each input is preceded by an unknown symmetric deadzone is considered. The unknown dynamics is identified by means of a continuous time recurrent neural network in which the control singularity is conveniently avoided by guaranteeing the invertibility of the coupling matrix. Given this neural network-based mathematical model of the uncertain system, a singularity-free feedback linearization control law is developed in order to compel the system state to follow a reference trajectory. By means of Lyapunov-like analysis, the exponential convergence of the tracking error to a bounded zone can be proven. Likewise, the boundedness of all closed-loop signals can be guaranteed.
UR - http://www.scopus.com/inward/record.url?scp=84904090489&partnerID=8YFLogxK
U2 - 10.1155/2014/951983
DO - 10.1155/2014/951983
M3 - Artículo
C2 - 25045754
SN - 2356-6140
VL - 2014
JO - Scientific World Journal
JF - Scientific World Journal
M1 - 951983
ER -