Neuro observer-based control of pure feedback MIMO systems with unknown control direction

作者：Ramezani Zahra; Arefi Mohammad Mehdi^*; Zargarzadeh Hassan; Jahed Motlagh Mohammad Reza

来源：IET Control Theory and Applications, 2017, 11(2): 213-224.

DOI：10.1049/iet-cta.2016.0991

• neurocontrollers
• observers
• feedback
• MIMO systems
• uncertain systems
• nonlinear systems
• adaptive control
• control nonlinearities
• Lyapunov methods
• closed loop systems
• neuro observer-based control
• pure feedback MIMO systems
• unknown control direction
• neural network
• NN-based tracking control
• uncertain multiple-input multiple-output nonlinear systems
• K-filters
• immeasurable states
• control gain sign
• Nussbaum-type technique
• unknown nonlinear functions

This study focuses on the problem of neural network (NN)-based tracking control for a class of uncertain multiple-input multiple-output non-linear systems in pure feedback form. An observer based on K-filters, is introduced to estimate immeasurable states. In this method, a priori knowledge of the control gain sign is relaxed by using Nussbaum-type technique. NNs are employed to approximate the unknown non-linear functions and an adaptive neural output feedback controller is constructed via backstepping technique. The Lyapunov theorem is applied to prove that the overall closed-loop adaptive control scheme is semi-globally uniformly ultimately bounded. Finally, simulation results are provided to illustrate the design procedure.

• 出版日期2017-1-20