Adaptive neural compensation control for input-delay nonlinear systems by passive approach

Authors:
Zhandong Yu;Xiren Zhao;Xiuyan Peng
Affiliations:
School of Automatization, Harbin Engineering University, Harbin, China;School of Automatization, Harbin Engineering University, Harbin, China;School of Automatization, Harbin Engineering University, Harbin, China
Venue:
ISNN'06 Proceedings of the Third international conference on Advnaces in Neural Networks - Volume Part II
Year:
2006

Citing 3
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Abstract

This paper focuses on the design of passive controller with adaptive neural compensation for uncertain strict-feedback nonlinear systems with input-delay. For local linearization model, the delay-dependent γ-passive control is presented. Then, γ-passive control law of local linear model is decomposed as the virtual control of sub-systems by backstepping. In order to compensate the nonlinear dynamics, the adaptive neural model is proposed. The NN weights are turned on-line by Lyapunov stability theory with no prior training. The design procedure of whole systems is a combination of local γ-passive control and adaptive neural network compensation techniques.