Event sampled direct adaptive NN state feedback control of uncertain strict feedback system
In this paper, neural networks (NNs) are utilized in the backstepping approach to design a control input by approximating unknown dynamics of the strict feedback nonlinear system with event sampled inputs. The system state vector is assumed to be measurable. As part of the controller design, first, local input to state like stability (ISS) for a continuously sampled controller that has been injected with bounded measurement errors is demonstrated and, subsequently, an event execution control law is derived such that the measurement errors are guaranteed to remain bounded. Lyapunov theory is used to demonstrate that the tracking errors and the NN weight estimation errors for each NN are locally uniformly ultimately bounded (UUB) in the presence bounded disturbances, NN reconstruction errors, as well as errors introduced by event sampling. Simulation results are provided to illustrate the effectiveness of the proposed controller.
2016 IEEE 55th Conference on Decision and Control (CDC)