Adaptive Tracking Control for Output-Constrained Switched MIMO Pure-Feedback Nonlinear Systems with Input Saturation

• Published in: Journal of systems science and complexity Vol. 36; no. 3; pp. 960 - 984
• Main Authors: Zhang, Haoyan, Zhao, Xudong, Wang, Huanqing, Niu, Ben, Xu, Ning
• Format: Journal Article
• Language: English
• Published: Berlin/Heidelberg Springer Berlin Heidelberg 01.06.2023; Springer Nature B.V
• Subjects: Adaptive control; Closed loops; Complex Systems; Constraints; Control; Control methods; Disturbance observers; Feedback control; Liapunov functions; Mathematics; Mathematics and Statistics; Mathematics of Computing; MIMO (control systems); Neural networks; Nonlinear systems; Nonlinearity; Operations Research/Decision Theory; Radial basis function; Reference signals; Statistics; Systems Theory; Tracking control; output constraints; Adaptive control; input saturation; switched MIMO pure-feedback nonlinear systems; neural networks
• ISSN: 1009-6124; 1559-7067
• DOI: 10.1007/s11424-023-1455-y

In this paper, an adaptive neural tracking control scheme for a class of uncertain switched multi-input multi-output (MIMO) pure-feedback nonlinear systems is proposed. The considered MIMO pure-feedback nonlinear system contains input and output constraints, completely unknown nonlinear functions and time-varying external disturbances. The unknown nonlinear functions representing system uncertainties are identified via radial basis function neural networks (RBFNNs). Then, the Nussbaum function is utilized to deal with the nonlinearity issue caused by the input saturation. To prevent system outputs from violating prescribed constraints, the barrier Lyapunov functions (BLFs) are introduced. Also, a switched disturbance observer is designed to make the time-varying external disturbances estimable. Based on the backstepping recursive design technique and the Lyapunov stability theory, the developed control method is verified applicable to ensure the boundedness of all signals in the closed-loop system and make the system output track given reference signals well. Finally, a numerical simulation is given to demonstrate the effectiveness of the proposed control method.