文章基本信息

标题：Adaptive Tracking Control for Nonaffine Nonlinear Systems With Zero Dynamics
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作者：Hu, Hui ; Guo, Peng
期刊名称：Journal of Computers
印刷版ISSN：1796-203X
出版年度：2013
卷号：8
期号：6
页码：1488-1495
DOI：10.4304/jcp.8.6.1488-1495
语种：English
出版社：Academy Publisher
摘要：A direct adaptive neural network tracking control scheme is presented for a class of nonaffine nonlinear systems with zero dynamics. The method does not assume boundedness on the time derivative of a control effectiveness term. Parameters in neural networks are updated using a gradient descent method which designed in order to minimize a quadratic cost function of the error between the unknown ideal implicit controller and the used neural networks controller. The final updated law is a nonlinear function of output error. No robustifying control term is used in controller. The convergence of parameters and the uniformly ultimately bounded of tracking error and all states of the corresponding closed-loop system are demonstrated by Lyapunov stability theorem．Simulation results illustrate the availability of this method.
关键词：nonaffine nonlinear;neural network;tracking control;gradient descent method;zero dynamic