Adaptive neural network control for a class of stochastic nonholonomic systems with both full‐state constraints and full‐input saturation

Abstract

AbstractThis article presents an adaptive control algorithm for stochastic nonholonomic systems subject to state constraints and input saturation simultaneously. We give a state‐input scaling transformation and a novel auxiliary variable to transform the stochastic nonholonomic system into a new one to make it easier to design the controller, and adopt a switching strategy to eliminate the phenomenon of uncontrollability. By introducing a barrier Lyapunov function and defining a suitable adaptive parameter, we construct a novel adaptive neural network controller with only one adaptive law, which can alleviate computation burden. The presented controller not only overcomes the effects of both full‐state constraints and full‐input saturation on system performance, but also ensures that all states of the closed‐loop are semi‐globally uniformly ultimately bounded in probability. Additionally, all state variables are restricted to the predefined compact sets. Finally, an example is used to validate the efficacy of the established controller.