Command-Filtered Neuroadaptive Output-Feedback Control for Stochastic Nonlinear Systems With Input Constraint
针对带执行器约束的随机非线性系统，提出一种自适应神经网络命令滤波输出反馈控制策略，解决了传统反步法中的复杂度爆炸问题，并通过误差补偿消除滤波误差影响。
In this article, an adaptive neural-network (NN) command-filtered output-feedback control strategy is proposed for a class of stochastic nonlinear systems (SNSs) with the actuator constraint. The problem of "explosion of complexity" existing in the conventional backstepping design procedure for SNSs is successfully resolved based on the command filter technique, and the error compensation mechanism is introduced to remove effectively the influence of filtered error. By using the NNs to identify the unknown nonlinear functions, a neural-network-based state observer is designed to estimate the unmeasurable states of the SNSs. Based on the quartic Lyapunov function, the stability of stochastic closed-loop systems is analyzed. It is proved that all signals of the closed-loop systems are bounded in probability, and the tracking error approaches a small neighborhood of the origin in probability. Finally, the effectiveness of the developed control algorithm in this article is verified by a comparison example.