Author:
Wu Bing,Wu Jiale,Zhang Jian,Tang Guojian,Zhao Zhijia
Abstract
An adaptive neural control for uncertain 2DOF helicopter systems with input saturation and time-varying output constraints is provided. A radial basis function neural network is used to estimate the uncertainty terms present in the system. The saturation error and the external disturbance are considered as a composite disturbance, and an adaptive auxiliary parameter is introduced to compensate it. An asymmetric barrier Lyapunov function is employed to address the constraint violation of the system output. The closed-loop stability of the system is then demonstrated by Lyapunov theory analysis. Simulation results demonstrate the effectiveness of the control strategy.
Funder
the Scientific Research Projects of Guangzhou Education Bureau
Subject
Control and Optimization,Control and Systems Engineering
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