Neural network‐based tracking control of autonomous marine vehicles with unknown actuator dead‐zone

2021 ◽  
Author(s):  
Min Ma ◽  
Tong Wang ◽  
Runsheng Guo ◽  
Jianbin Qiu
Keyword(s):  
Neural Network ◽  
Tracking Control ◽  
Dead Zone ◽  
Marine Vehicles

Adaptive Neural Network Tracking Control for Robotic Manipulators With Dead Zone

2019 ◽  
Vol 30 (12) ◽  
pp. 3611-3620 ◽  
Author(s):  
Qi Zhou ◽  
Shiyi Zhao ◽  
Hongyi Li ◽  
Renquan Lu ◽  
Chengwei Wu
Keyword(s):  
Neural Network ◽  
Tracking Control ◽  
Dead Zone ◽  
Robotic Manipulators ◽  
Adaptive Neural Network

Adaptive decentralized tracking control of a class of large-scale nonlinear systems with unknown dead-zone inputs using neural network

2019 ◽  
Vol 41 (16) ◽  
pp. 4499-4510 ◽  
Author(s):  
Yu-Qun Han ◽  
Shan-Liang Zhu ◽  
De-Yu Duan ◽  
Lei Chu ◽  
Shu-Guo Yang
Keyword(s):  
Neural Network ◽  
Nonlinear Systems ◽  
Tracking Control ◽  
Large Scale ◽  
Controller Design ◽  
Dead Zone ◽  
Computational Cost ◽  
Tracking Errors ◽  
Control Approach ◽  
Control Scheme

In this paper, an adaptive decentralized control approach is proposed for a class of large-scale nonlinear systems with unknown dead-zone inputs using neural network. Firstly, the dead-zone outputs are firstly represented as simple linear systems with a static time-varying gain and bounded disturbance by introducing characteristic function. Secondly, in the controller design, neural networks are utilized to approximate the unknown nonlinear functions. Thirdly, an adaptive decentralized tracking control approach is constructed via backstepping design technique. It is shown that the proposed control approach can assure that all the signals of the closed-loop system semi-globally uniformly ultimately bounded and the tracking errors finally converge to a small domain around the origin. The proposed method can get precise tracking results with low computational cost, and have a good real-time performance and convergence. Finally, two examples are given to demonstrate the effectiveness of the proposed control scheme.

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