Data-Driven Robust Control of Unknown MIMO Nonlinear System Subject to Input Saturations and Disturbances

被引:1
|
作者
Wang, Li [1 ,2 ]
Gong, Huajun [1 ]
Liu, Chunsheng [1 ]
机构
[1] Nanjing Univ Aeronaut & Astronaut, Coll Automat Engn, Nanjing 210016, Jiangsu, Peoples R China
[2] Nanhang Jincheng Coll, Nanjing 211156, Jiangsu, Peoples R China
基金
中国国家自然科学基金;
关键词
ADAPTIVE NEURAL-CONTROL; TRACKING CONTROL; CONTROL SCHEME; IDENTIFICATION; OBSERVER;
D O I
10.1155/2017/5186025
中图分类号
T [工业技术];
学科分类号
08 ;
摘要
This paper presented a new data-driven robust control scheme for unknown nonlinear systems in the presence of input saturation and external disturbances. According to the input and output data of the nonlinear system, a recurrent neural network (RNN) data-driven model is established to reconstruct the dynamics of the nonlinear system. An adaptive output-feedback controller is developed to approximate the unknown disturbances and a novel input saturation compensation method is used to attenuate the effect of the input saturation. Under the proposed adaptive control scheme, the uniformly ultimately bounded convergence of all the signals of the closed-loop nonlinear system is guaranteed via Lyapunov analysis. The simulation results are given to show the effectiveness of the proposed data-driven robust controller.
引用
收藏
页数:11
相关论文
共 50 条
  • [1] Data-driven robust optimal control for nonlinear system with uncertain disturbances
    Han, Honggui
    Zhang, Jiacheng
    Yang, Hongyan
    Hou, Ying
    Qiao, Junfei
    INFORMATION SCIENCES, 2023, 621 : 248 - 264
  • [2] Robust Data-Driven Control Design for Linear Systems Subject to Input Saturation
    Seuret, Alexandre
    Tarbouriech, Sophie
    IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2024, 69 (09) : 6191 - 6198
  • [3] Robust adaptive NN tracking control for MIMO uncertain nonlinear systems with completely unknown control gains under input saturations
    Zhu, Guibing
    Du, Jialu
    Li, Jian
    Kao, Yonggui
    NEUROCOMPUTING, 2019, 365 : 125 - 136
  • [4] Iterative Learning Control for Nonlinear MIMO Systems with Unknown Nonparametric Uncertainties and Input Saturations
    Zhang, Ruikun
    Hou, Zhongsheng
    2015 27TH CHINESE CONTROL AND DECISION CONFERENCE (CCDC), 2015, : 1085 - 1089
  • [5] Robust Control of Input Constrained Nonlinear Systems Subject to Unknown Bounded Disturbances Based on Convex Optimization
    Pylorof, Dimitrios
    Bakolas, Efstathios
    2017 AMERICAN CONTROL CONFERENCE (ACC), 2017, : 3700 - 3705
  • [6] PIO Based Data-Driven Iterative Learning Control for Nonlinear Batch Processes with Nonrepetitive Disturbances Subject to Input Constraints
    Hao, Shoulin
    Liu, Tao
    Paszke, Wojciech
    IFAC PAPERSONLINE, 2021, 54 (03): : 25 - 30
  • [7] Online Data-Driven Safety Certification for Systems Subject to Unknown Disturbances
    Rober, Nicholas
    Mahesh, Karan
    Paine, Tyler M.
    Greene, Max L.
    Lee, Steven
    Monteiro, Sildomar T.
    Benjamin, Michael R.
    How, Jonathan P.
    2024 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA 2024), 2024, : 9939 - 9945
  • [8] Data-Driven Policy Learning Strategy for Nonlinear Robust Control With Unknown Perturbation
    Fang, Sai
    Wang, Ding
    Liu, Derong
    Ha, Mingming
    PROCEEDINGS 2018 33RD YOUTH ACADEMIC ANNUAL CONFERENCE OF CHINESE ASSOCIATION OF AUTOMATION (YAC), 2018, : 129 - 134
  • [9] Online adaptive data-driven control for unknown nonlinear systems with constrained-input
    Xi'an University of Architecture and Technology, Xi'an, China
    Int. Conf. Cyber-Energy Syst. Intell. Energy, ICCSIE, 1600,
  • [10] Data-Driven Robust Regulation of Nonlinear Systems With Mismatched Disturbances
    Yang, Xiong
    He, Haibo
    2017 IEEE SYMPOSIUM SERIES ON COMPUTATIONAL INTELLIGENCE (SSCI), 2017, : 1284 - 1291