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Robust tracking control for uncertain MIMO nonlinear systems with input saturation using RWNNDO

journal contribution
posted on 06.12.2017, 00:00 authored by M Chen, Y Zhou, Wanwu GuoWanwu Guo
In this paper, the robust tracking control scheme is proposed for a class of uncertain multi-input and multi-output (MIMO) nonlinear systems with input saturation and unknown external disturbance based on the recurrent wavelet neural network disturbance observer (RWNNDO) and the backstepping technique. And then, the developed robust tracking control scheme is applied to an unmanned aerial vehicle (UAV) system. To handle the input saturation, a hyperbolic tangent function and a Nussbaum function are employed, and the dynamic surface method is applied to solve the problem of “explosion of complexity” in backstepping control. It is proved that the proposed control scheme can guarantee that all signals of the closed-loop system are bounded through the Lyapunov analysis. Simulation results are presented to demonstrate the effectiveness of the proposed control scheme for uncertain MIMO nonlinear systems.

History

Volume

144

Start Page

436

End Page

447

Number of Pages

12

eISSN

1872-8286

ISSN

0925-2312

Location

Netherlands

Publisher

Elsevier

Language

en-aus

Peer Reviewed

Yes

Open Access

No

External Author Affiliations

Nanjing hang kong hang tian da xue; Not affiliated to a Research Institute; School of Engineering and Technology (2013- );

Era Eligible

No

Journal

Neurocomputing.