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作者:

Li, Dapeng (Li, Dapeng.) | Han, Honggui (Han, Honggui.) | Qiao, Junfei (Qiao, Junfei.) (学者:乔俊飞)

收录:

EI Scopus SCIE

摘要:

In this article, an adaptive neural learning method is introduced for a category of nonlinear strict-feedback systems with time-varying full-state constraints. The two challenging problems of state constraints and learning capability are investigated and solved in a unified framework. To obtain the learning of unknown functions and satisfy full-state constraints, three main steps are considered. First, an adaptive dynamic surface controller (DSC) based on barrier Lyapunov functions (BLFs) is structured to implement that the closed-loop systems signals are bounded and full-state variables remain within the prescribed time-varying intervals. Moreover, the radial basis function neural networks (RBF NNs) are used to identify unknown functions. The output of the first-order filter, instead of virtual control derivatives, is used to simplify the complexity of the RBF NN input variables. Second, the state transformation is used to obtain a class of linear time-varying subsystems with small perturbations such that the recurrence of the RBF NN input variables and the partial persistent excitation condition are actualized. Therefore, the unknown functions can be accurately approximated, and the learned knowledge is kept as constant NN weights. Third, the obtained constant weights are borrowed into an adaptive learning scheme to achieve the batter control performance. Finally, simulation studies illustrate the advantage of the reported adaptive learning method on higher tracking accuracy, faster convergence rate, and lower computational expense by reusing learned knowledge.

关键词:

Backstepping deterministic learning barrier Lyapunov functions (BLFs) dynamic surface control (DSC) persistent excitation Explosions Learning systems full-state constraints Closed loop systems Artificial neural networks Adaptive neural control Lyapunov methods Complexity theory

作者机构:

  • [ 1 ] [Li, Dapeng]Beijing Univ Technol, Fac Informat Technol, Beijing 100124, Peoples R China
  • [ 2 ] [Han, Honggui]Beijing Univ Technol, Fac Informat Technol, Beijing 100124, Peoples R China
  • [ 3 ] [Qiao, Junfei]Beijing Univ Technol, Fac Informat Technol, Beijing 100124, Peoples R China
  • [ 4 ] [Li, Dapeng]Beijing Univ Technol, Beijing Key Lab Computat Intelligence & Intellige, Beijing 100124, Peoples R China
  • [ 5 ] [Han, Honggui]Beijing Univ Technol, Beijing Key Lab Computat Intelligence & Intellige, Beijing 100124, Peoples R China
  • [ 6 ] [Qiao, Junfei]Beijing Univ Technol, Beijing Key Lab Computat Intelligence & Intellige, Beijing 100124, Peoples R China

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来源 :

IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS

ISSN: 2162-237X

年份: 2021

期: 8

卷: 34

页码: 5002-5011

1 0 . 4 0 0

JCR@2022

ESI学科: COMPUTER SCIENCE;

ESI高被引阀值:87

JCR分区:1

被引次数:

WoS核心集被引频次: 24

SCOPUS被引频次: 24

ESI高被引论文在榜: 0 展开所有

万方被引频次:

中文被引频次:

近30日浏览量: 6

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