Adaptive tracking H-infinity control for switched nonlinear systems with unknown control gain sign |
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Authors: | Lei YU Shumin FEI Hairong ZHU and Xun LI |
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Affiliation: | 1. School of Mechanical and Electrical Engineering, Soochow University, Suzhou Jiangsu 215021, China 2. School of Automation, Southeast University, Nanjing Jiangsu 210096, China |
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Abstract: | This paper addresses the adaptive tracking control scheme for switched nonlinear systems with unknown control gain sign. The
approach relaxes the hypothesis that the upper bound of function control gain is known constant and the bounds of external
disturbance and approximation errors of neural networks are known. RBF neural networks (NNs) are used to approximate unknown
functions and an H-infinity controller is introduced to enhance robustness. The adaptive updating laws and the admissible
switching signals have been derived from switched multiple Lyapunov function method. It’s proved that the resulting closed
loop system is asymptotically Lyapunov stable such that the output tracking error performance and H-infinity disturbance attenuation
level are well obtained. Finally, a simulation example of Forced Duffing systems is given to illustrate the effectiveness
of the proposed control scheme and improve significantly the transient performance. |
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Keywords: | RBF neural networks Adaptive tracking control H-infinity control Tracking error performance |
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