Adaptive Neural Control Design of MIMO Nonaffine Nonlinear Systems with Input Saturation

摘要

In this paper, an adaptive neural networks control approach is proposed for a class of multi-input multi-output (MIMO) non-affine nonlinear dynamic systems in the presence of input saturation. The difficulty in controlling the saturated non-affine system is overcome by introducing a system transformation, so as the system can be reformulated as an affine of a canonical system. In the control design, neural networks are used in the online learning of the unknown dynamics and the input saturation is approximated to reduce the influence caused by the nonlinearities, and a robustifying control term is used to compensate for the approximation errors. Compared to the literature, in the proposed approach, the structure of the designed controller is much simpler since the causes for the problem of complexity growing in existing methods are eliminated. The stability analysis of the closed-loop system is investigated by using Lyapunov theory. Numerical simulation illustrated the proposed control scheme with satisfactory results.