Unified adaptive event‐triggered control of uncertain multi‐input multi‐output nonlinear systems with dynamic and static constraints
In this article, a unified adaptive neural event‐triggered control strategy is presented for uncertain multi‐input multi‐output (MIMO) nonlinear systems with dynamic and static constraints in the presence of unmodeled dynamics. By introducing an invertible nonlinear mapping based on hyperbolic tange...
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| Published in | International journal of robust and nonlinear control Vol. 31; no. 6; pp. 2371 - 2392 |
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| Main Authors | , , , |
| Format | Journal Article |
| Language | English |
| Published |
Bognor Regis
Wiley Subscription Services, Inc
01.04.2021
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| Subjects | |
| Online Access | Get full text |
| ISSN | 1049-8923 1099-1239 |
| DOI | 10.1002/rnc.5401 |
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| Abstract | In this article, a unified adaptive neural event‐triggered control strategy is presented for uncertain multi‐input multi‐output (MIMO) nonlinear systems with dynamic and static constraints in the presence of unmodeled dynamics. By introducing an invertible nonlinear mapping based on hyperbolic tangent function, the constrained original system is transformed into an equivalent unconstrained MIMO pure‐feedback system. A dynamic signal is employed to dispose of the dynamical uncertainties in the novel system. Based on the transformed system, unified adaptive event‐triggered controller is formed by using modified dynamic surface control technique and the bounded characteristic of Gaussian function. Using the introduced compact set in stability analysis and Lyapunov function method, all signals in the closed‐loop system are proved to be the semiglobal uniform ultimate boundedness. Furthermore, all states and output signals can strictly comply with the defined constraint conditions. Simulations of two numerical examples including 2‐link rigid manipulator are provided to verify and clarify the theoretical results. |
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| AbstractList | In this article, a unified adaptive neural event‐triggered control strategy is presented for uncertain multi‐input multi‐output (MIMO) nonlinear systems with dynamic and static constraints in the presence of unmodeled dynamics. By introducing an invertible nonlinear mapping based on hyperbolic tangent function, the constrained original system is transformed into an equivalent unconstrained MIMO pure‐feedback system. A dynamic signal is employed to dispose of the dynamical uncertainties in the novel system. Based on the transformed system, unified adaptive event‐triggered controller is formed by using modified dynamic surface control technique and the bounded characteristic of Gaussian function. Using the introduced compact set in stability analysis and Lyapunov function method, all signals in the closed‐loop system are proved to be the semiglobal uniform ultimate boundedness. Furthermore, all states and output signals can strictly comply with the defined constraint conditions. Simulations of two numerical examples including 2‐link rigid manipulator are provided to verify and clarify the theoretical results. |
| Author | Yi, Yang Zhang, Tianping Xia, Xiaonan Hua, Yu |
| Author_xml | – sequence: 1 givenname: Tianping orcidid: 0000-0002-7796-7004 surname: Zhang fullname: Zhang, Tianping email: tpzhang@yzu.edu.cn organization: Yangzhou University – sequence: 2 givenname: Yu surname: Hua fullname: Hua, Yu organization: Yangzhou University – sequence: 3 givenname: Xiaonan orcidid: 0000-0002-2095-6566 surname: Xia fullname: Xia, Xiaonan organization: Yangzhou University – sequence: 4 givenname: Yang orcidid: 0000-0003-2124-7144 surname: Yi fullname: Yi, Yang organization: Yangzhou University |
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| Cites_doi | 10.1109/9.100933 10.1109/CDC.2011.6160257 10.1109/9.788536 10.1007/s11071-019-04832-x 10.1002/acs.2939 10.1007/s00521-014-1650-9 10.1049/iet-cta.2015.0019 10.1016/j.automatica.2017.03.033 10.1016/j.automatica.2016.10.011 10.1109/TCYB.2016.2521179 10.1109/TAC.2000.880994 10.1109/CDC.2018.8619249 10.1109/TCYB.2018.2865174 10.1016/j.neucom.2014.04.032 10.1016/j.automatica.2008.11.017 10.1016/j.neucom.2018.12.011 10.1016/j.automatica.2015.10.034 10.1002/rnc.4939 10.1109/JAS.2016.7373768 10.1016/j.jfranklin.2018.09.036 10.1109/TAC.2016.2594204 10.1016/j.ins.2019.02.063 10.1109/TSMC.2020.2964394 10.1002/acs.2936 10.1016/S0005-1098(98)00018-1 10.1109/TCYB.2014.2383378 10.1016/j.automatica.2011.01.025 10.1016/j.automatica.2011.08.044 10.1109/TNN.2010.2047115 10.1109/TNNLS.2017.2650238 10.1002/acs.3157 10.1109/TAC.2018.2823386 10.1109/TAC.2007.904277 10.1109/TNNLS.2017.2678922 10.1109/TAC.2017.2707520 10.1016/j.automatica.2007.11.025 |
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| SubjectTerms | Adaptive control Constraints dynamic output constraints dynamic surface control Event triggered control Hyperbolic functions Liapunov functions MIMO (control systems) Nonlinear systems Stability analysis static state constraints unmodeled dynamics |
| Title | Unified adaptive event‐triggered control of uncertain multi‐input multi‐output nonlinear systems with dynamic and static constraints |
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