首页|Adaptive neural network control of a 2-DOF helicopter system considering input constraints and global prescribed performance

Adaptive neural network control of a 2-DOF helicopter system considering input constraints and global prescribed performance

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In this study,an adaptive neural network(NN)control is proposed for nonlinear two-degree-of-freedom(2-DOF)helicopter systems considering the input constraints and global prescribed performance.First,radial basis function NN(RBFNN)is employed to estimate the unknown dynamics of the helicopter system.Second,a smooth nonaffine function is exploited to approximate and address nonlinear constraint functions.Subsequently,a new prescribed function is proposed,and an original constrained error is trans-formed into an equivalent unconstrained error using the error transformation and barrier function transfor-mation methods.The analysis of the established Lyapunov function proves that the controlled system is globally uniformly bounded.Finally,the simulation and experimental results on a constructed Quanser's test platform verify the rationality and feasibility of the proposed control.

adaptive NN control2-DOF helicopterglobal prescribed performanceinput constraints

Zhijia ZHAO、Jiale WU、Zhijie LIU、We HE、C.L.Philip CHEN

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School of Mechanical and Electrical Engineering,Guangzhou University,Guangzhou 510006,China

School of Intelligence Science and Technology and Key Laboratory of Intelligent Bionic Unmanned Systems of Ministry of Education,University of Science and Technology Beijing,Beijing 100083,China

School of Computer Science and Engineering,South China University of Technology,Guangzhou 510641,China

Pazhou Lab,Guangzhou 510335,China

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National Key Research and Development Program of ChinaNational Natural Science Foundation of ChinaNational Natural Science Foundation of ChinaNational Natural Science Foundation of ChinaScience and Technology Major Project of GuangzhouScience and Technology Planning Project of GuangzhouScience and Technology Planning Project of GuangzhouProgram for Guangdong Introducing Innovative and Entrepreneurial TeamsGuangzhou University Research Project

2023YFB47064006227311262225304922672032020070300062022010201852023A03J01202019ZT08X214RC2023037

2024

10.1007/s11432-023-3949-3

中国科学:信息科学(英文版)
中国科学院

中国科学:信息科学(英文版)

CSTPCDEI
影响因子：0.715
ISSN：1674-733X
年,卷(期)：2024.67(7)