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Robust tracking control for uncertain MIMO nonlinear systems with input saturation using RWNNDO

หน่วยงาน Central Queensland University, Australia

รายละเอียด

ชื่อเรื่อง : Robust tracking control for uncertain MIMO nonlinear systems with input saturation using RWNNDO
นักวิจัย : Chen, Mou , , Zhou, Yanlong , , Guo, Wanwu , School of Engineering and Technology (2013-)
คำค้น : Nonlinear System , Unmannedaerialvehicle , Inputsaturation , Recurrentwaveletneuralnetwork , Disturbance Observer , Dynamic Surfacecontrol
หน่วยงาน : Central Queensland University, Australia
ผู้ร่วมงาน : -
ปีพิมพ์ : 2557
อ้างอิง : http://hdl.cqu.edu.au/10018/1029042 , acquire1-20150113-125452 , cqu:12107
ที่มา : -
ความเชี่ยวชาญ : -
ความสัมพันธ์ : -
ขอบเขตของเนื้อหา : -
บทคัดย่อ/คำอธิบาย :

In this paper, the robust tracking control scheme is proposed for a class of uncertain multi-input and multi-output (MIMO) nonlinear systems with input saturation and unknown external disturbance based on the recurrent wavelet neural network disturbance observer (RWNNDO) and the backstepping technique. And then, the developed robust tracking control scheme is applied to an unmanned aerial vehicle (UAV) system. To handle the input saturation, a hyperbolic tangent function and a Nussbaum function are employed, and the dynamic surface method is applied to solve the problem of “explosion of complexity” in backstepping control. It is proved that the proposed control scheme can guarantee that all signals of the closed-loop system are bounded through the Lyapunov analysis. Simulation results are presented to demonstrate the effectiveness of the proposed control scheme for uncertain MIMO nonlinear systems.

บรรณานุกรม :
Chen, Mou , , Zhou, Yanlong , , Guo, Wanwu , School of Engineering and Technology (2013-) . (2557). Robust tracking control for uncertain MIMO nonlinear systems with input saturation using RWNNDO.
    กรุงเทพมหานคร : Central Queensland University, Australia.
Chen, Mou , , Zhou, Yanlong , , Guo, Wanwu , School of Engineering and Technology (2013-) . 2557. "Robust tracking control for uncertain MIMO nonlinear systems with input saturation using RWNNDO".
    กรุงเทพมหานคร : Central Queensland University, Australia.
Chen, Mou , , Zhou, Yanlong , , Guo, Wanwu , School of Engineering and Technology (2013-) . "Robust tracking control for uncertain MIMO nonlinear systems with input saturation using RWNNDO."
    กรุงเทพมหานคร : Central Queensland University, Australia, 2557. Print.
Chen, Mou , , Zhou, Yanlong , , Guo, Wanwu , School of Engineering and Technology (2013-) . Robust tracking control for uncertain MIMO nonlinear systems with input saturation using RWNNDO. กรุงเทพมหานคร : Central Queensland University, Australia; 2557.