In this paper, an adaptive controller is developed for a class of multi-input and multioutput nonlinear systems with neural networks (NNs) used as a modeling tool. It is shown that all the signals in the closed-loop system with the proposed adaptive neural controller are globally uniformly bounded for any external input in . In our control design, the upper bound of the NN modeling error and the gains of external disturbance are characterized by unknown upper bounds, which is more rational to establish the stability in the adaptive NN control. Filter-based modification terms are used in the update laws of unknown parameters to improve the transient performance. Finally, fault-tolerant control is developed to accommodate actuator failure. An illustrative example applying the adaptive controller to control a rigid robot arm shows the validation of the proposed controller.In this paper, an adaptive controller is developed for a class of multi-input and multioutput nonlinear systems with neural networks (NNs) used as a modeling tool. It is shown that all the signals in the closed-loop system with the proposed adaptive neural controller are globally uniformly bounded for any external input in . In our control design, the upper bound of the NN modeling error and the gains of external disturbance are characterized by unknown upper bounds, which is more rational to establish the stability in the adaptive NN control. Filter-based modification terms are used in the update laws of unknown parameters to improve the transient performance. Finally, fault-tolerant control is developed to accommodate actuator failure. An illustrative example applying the adaptive controller to control a rigid robot arm shows the validation of the proposed controller.
This paper is concerned with finite-time extended dissipative analysis and nonfragile control for a class of uncertain switched neutral systems with time delay, and the controller is assumed to have either additive or multiplicative form. By employing the average dwell-time and linear matrix inequality technique, sufficient conditions for finite-time boundedness of the switched neutral system are provided. Then finite-time extended dissipative performance for the switched neutral system is addressed, where we can solve H∞, L2-L∞, Passivity, and (Q,S,R)-dissipativity performance in a unified framework based on the concept of extended dissipative. Furthermore, nonfragile state feedback controllers are proposed to guarantee that the closed-loop system is finite-time bounded with extended dissipative performance. Finally, numerical examples are given to demonstrate the effectiveness of the proposed method.
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