ACC'09 Proceedings of the 2009 conference on American Control Conference
Adaptive robust NN control of nonlinear systems
ISNN'11 Proceedings of the 8th international conference on Advances in neural networks - Volume Part II
Adaptive neural network control of robot with passive last joint
ICIRA'12 Proceedings of the 5th international conference on Intelligent Robotics and Applications - Volume Part III
ISNN'13 Proceedings of the 10th international conference on Advances in Neural Networks - Volume Part II
Cooperative tracking of multiple agents with uncertain nonlinear dynamics and fixed time delays
ISNN'13 Proceedings of the 10th international conference on Advances in Neural Networks - Volume Part II
Output feedback adaptive robust NN control for a class of nonlinear discrete-time systems
ISNN'13 Proceedings of the 10th international conference on Advances in Neural Networks - Volume Part II
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In this paper, output feedback adaptive neural network (NN) controls are investigated for two classes of nonlinear discrete-time systems with unknown control directions: (1) nonlinear pure-feedback systems and (2) nonlinear autoregressive moving average with exogenous inputs (NARMAX) systems. To overcome the noncausal problem, which has been known to be a major obstacle in the discrete-time control design, both systems are transformed to a predictor for output feedback control design. Implicit function theorem is used to overcome the difficulty of the nonaffine appearance of the control input. The problem of lacking a priori knowledge on the control directions is solved by using discrete Nussbaum gain. The high-order neural network (HONN) is employed to approximate the unknown control. The closed-loop system achieves semiglobal uniformly-ultimately-bounded (SGUUB) stability and the output tracking error is made within a neighborhood around zero. Simulation results are presented to demonstrate the effectiveness of the proposed control.