IEEE Trans Cybern. 2016 Jun;46(6):1337-49. doi: 10.1109/TCYB.2015.2441292. Epub 2015 Jun 18.
In this paper, an adaptive neural output-feedback tracking controller is designed for a class of multiple-input and multiple-output nonstrict-feedback nonlinear systems with time delay. The system coefficient and uncertain functions of our considered systems are both unknown. By employing neural networks to approximate the unknown function entries, and constructing a new input-driven filter, a backstepping design method of tracking controller is developed for the systems under consideration. The proposed controller can guarantee that all the signals in the closed-loop systems are ultimately bounded, and the time-varying target signal can be tracked within a small error as well. The main contributions of this paper lie in that the systems under consideration are more general, and an effective design procedure of output-feedback controller is developed for the considered systems, which is more applicable in practice. Simulation results demonstrate the efficiency of the proposed algorithm.
本文针对一类具有时滞的多输入多输出非严格反馈非线性系统，设计了一种自适应神经网络输出反馈跟踪控制器。所考虑系统的系统系数和不确定函数都是未知的。通过使用神经网络来逼近未知函数项，并构造一个新的输入驱动滤波器，为所考虑的系统开发了一种跟踪控制器的回溯设计方法。所提出的控制器可以保证闭环系统中的所有信号最终都是有界的，并且可以在小误差范围内跟踪时变目标信号。本文的主要贡献在于所考虑的系统更加通用，并且为所考虑的系统开发了一种有效的输出反馈控制器设计程序，在实际中更具适用性。仿真结果验证了所提出算法的有效性。
