Neural-networks-based disturbance observer and tracker design in the presence of unknown control direction and non-affine nonlinearities
- Authors
- Kim, H.O.; Yoo, S.J.
- Issue Date
- Apr-2017
- Publisher
- Korean Institute of Electrical Engineers
- Keywords
- Adaptive technique; Nonlinear disturbance observer; Unknown control direction
- Citation
- Transactions of the Korean Institute of Electrical Engineers, v.66, no.4, pp 666 - 671
- Pages
- 6
- Journal Title
- Transactions of the Korean Institute of Electrical Engineers
- Volume
- 66
- Number
- 4
- Start Page
- 666
- End Page
- 671
- URI
- https://scholarworks.bwise.kr/cau/handle/2019.sw.cau/6159
- DOI
- 10.5370/KIEE.2017.66.4.666
- ISSN
- 1975-8359
2287-4364
- Abstract
- A disturbance-observer-based adaptive neural tracker design problem is investigated for a class of perturbed uncertain non-affine nonlinear systems with unknown control direction. A nonlinear disturbance observer (NDO) design methodology using neural networks is presented to construct a tracking control scheme with the attenuation effect of an external disturbance. Compared with previous control results using NDO for nonlinear systems in non-affine form, the major contribution of this paper is to design a NDO-based adaptive tracker without the sign information of the control coefficient. The stability of the closed-loop system is analyzed in the sense of Lyapunov stability. Copyright © The Korean Institute of Electrical Engineers.
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