Adaptive Neural Safe Tracking Control Design for a Class of Uncertain Nonlinear Systems With Output Constraints and Disturbances
针对一类输出受限且受未知外部干扰的不确定非线性系统，提出了一种自适应神经安全跟踪控制方案，通过边界保护方法确保输出在约束内，并利用径向基神经网络和干扰观测器处理不确定性和干扰。
In this article, an adaptive neural safe tracking control scheme is studied for a class of uncertain nonlinear systems with output constraints and unknown external disturbances. To allow the output to stay in the desired output constraints, a boundary protection approach is developed and utilized in the output constrained problem. Since the generated output constraint trajectory is piecewise differentiable, a dynamic surface method is utilized to handle it. For the purpose of approximating the system uncertainties, a radial basis function neural network (RBFNN) is adopted. Under the output of the RBFNN, the disturbance observer technology is employed to estimate the unknown compound disturbances of the system. Finally, the Lyapunov function method is utilized to analyze the convergence of the tracking error. Taking a two-link manipulator system, as an example, the simulation results are presented to illustrate the feasibility of the proposed control scheme.