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Adaptive control for a class of second-order nonlinear systems with unknown input nonlinearities

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2 Author(s)
Zhang, T. ; Dept. of Chem. Eng., Queen''s Univ., Kingston, Ont., Canada ; Guay, M.

An adaptive controller is developed for a class of second-order nonlinear dynamic systems with input nonlinearities using artificial neural networks (ANN). The unknown input nonlinearities are continuous and monotone and satisfy a sector constraint. In contrast to conventional Lyapunov-based design techniques, an alternative Lyapunov function, which depends on both system states and control input variable, is used for the development of a control law and a learning algorithm. The proposed adaptive controller guarantees the stability of the closed-loop system and convergence of the output tracking error to an adjustable neighbour of the origin.

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Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on  (Volume:33 ,  Issue: 1 )