IEEE Trans Neural Netw Learn Syst. 2012 Jan;23(1):138-49. doi: 10.1109/TNNLS.2011.2178448.
An adaptive dynamic output feedback neural network controller for a class of multi-input/multi-output affine in the control uncertain nonlinear systems is designed, capable of guaranteeing prescribed performance bounds on the system's output as well as boundedness of all other closed loop signals. It is proved that simply guaranteeing a boundedness property for the states of a specifically defined augmented closed loop system is necessary and sufficient to solve the problem under consideration. The proposed dynamic controller is of switching type. However, its continuity is guaranteed, thus alleviating any issues related to the existence and uniqueness of solutions. Simulations on a planar two-link articulated manipulator illustrate the approach.
设计了一种用于一类多输入/多输出仿射控制不确定非线性系统的自适应动态输出反馈神经网络控制器，能够保证系统输出的规定性能边界以及所有其他闭环信号的有界性。证明了仅保证特定定义的增广闭环系统状态的有界性是解决所考虑问题的充分必要条件。所提出的动态控制器为开关型。然而，它的连续性得到了保证，从而消除了与解的存在性和唯一性相关的任何问题。平面两连杆关节机器人的仿真说明了该方法。
