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Neural Adaptive Output-Feedback Control of Non-affine Nonlinear Systems with Unknown Control Direction

Jiahua Dai  Gang Chen  
【摘要】:This paper presents a neuro-adaptive output feedback controller for a class of non-affine nonlinear systems.Firstly, by introducing the newly defined variables and applyling the mean value theorem, the non-affine dynamic is transformed into an affine form, and a finite time observer is designed to estimate the unknown states of the system.Secondly, based on the transformed system, by introducing the neural networks(NNs) and the Nussbaum-type function,the problem of lack of priori knowledge on the dynamic model and control direction is addressed. In addition, a barrier Lyapunov function(BLF) is introduced to guarantee the prescribed tracking performance of the control system. The stability of the closed-loop system is analyzed. Simulations are conducted to verify the effectiveness of the proposed control law.

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