Adaptive neural data-based compensation control of non-linear systems with dynamic uncertainties and input saturation

摘要

In this study, an adaptive neural backstepping control scheme is proposed for a class of strict-feedback non-linear systems with unmodelled dynamics, dynamic disturbances and input saturation. To solve the difficulties from the unmodelled dynamics and input saturation, a dynamic signal and smooth function in non-affine structure subject to the control input signal are introduced, respectively. Radial basis function (RBF) neural networks are used to approximate the packaged unknown non-linearities, and an adaptive neural control approach is developed via backstepping, which guarantees that all the signals in the closed-loop system are semi-globally uniformly ultimately bounded in mean square. The main contributions of this note lie in that a control strategy is provided for a class of strict-feedback non-linear systems with unmodelled dynamics uncertainties and input saturation, and the proposed control scheme does not require any information of the bound of input saturation non-linearity. Simulation results are used to show the effectiveness of the proposed control scheme.