Adaptive Control for Stochastic Switched Nonlower Triangular Nonlinear Systems and Its Application to a One-Link Manipulator

Ben Niu, Choon Ki Ahn, Huan Li, Ming Liu

Research output: Contribution to journalArticle

46 Citations (Scopus)

Abstract

This paper deals with the issue of adaptive observer-based stabilization for a more general class of uncertain switched stochastic nonlower triangular nonlinear systems with average dwell-time (ADT) switching. The completely unknown nonlinear functions possessing the entire states are handled using the neural networks universal approximation property and the variable separation technique. The main novelty of this paper is that it presents a universal formula for constructing an adaptive output-feedback controller of the considered system with only one adaptive parameter by designing a switched state observer. The theoretical analysis shows that the Lyapunov stability of the overall closed-loop system is ensured in the presence of ADT switching. Finally, the effectiveness and practicability of the obtained design scheme are illustrated by two simulation examples.

Original languageEnglish
JournalIEEE Transactions on Systems, Man, and Cybernetics: Systems
DOIs
Publication statusAccepted/In press - 2017 Apr 28

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Manipulators
Nonlinear systems
Closed loop systems
Stabilization
Neural networks
Feedback
Controllers

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Information Systems
  • Human-Computer Interaction
  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

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