摘要
An adaptive backstepping sliding mode control is proposed for a class of uncertain nonlinear systems with input saturation.A command filtered approach is used to prevent input saturation from destroying the adaptive capabilities of neural networks (NNs).The control law and adaptive updating laws of NNs are derived in the sense of Lyapunov function,so the stability can be guaranteed even under the input saturation.The proposed control law is robust against the disturbance,and it can also eliminate the impact of input saturation.Simulation results indicate that the proposed controller has a good performance.
An adaptive backstepping sliding mode control is proposed for a class of uncertain nonlinear systems with input saturation. A command filtered approach is used to prevent input saturation from destroying the adaptive capabilities of neural networks （NNs）. The control law and adaptive updating laws of NNs are derived in the sense of Lyapunov function, so the stability can be guaranteed even under the input saturation. The proposed control law is robust against the disturbance, and it can also eliminate the impact of input saturation. Simulation results indicate that the proposed controller has a good performance.
作者
ZHANG Hongmei
ZHANG Guoshan
张红梅;张国山(School of Electrical Engineering and Automation,Tianjin University,Tianjin 300072,China;School of Automation,Shenyang Aerospace University,Shenyang 110136,China)
基金
Supported by National Natural Science Foundation of China(No. 60674019,No. 61074088)
