title: Output feedback control of a class of discrete MIMO nonlinear systems with triangular form inputs.
abstract: In this paper, adaptive neural network (NN) control is investigated for a class of discrete-time multi-input-multi-output (MIMO) nonlinear systems with triangular form inputs. Each subsystem of the MIMO system is in strict feedback form. First, through two phases of coordinate transformation, the MIMO system is transformed into input-output representation with the triangular form input structure unchanged. By using high-order neural networks (HONNs) as the emulators of the desired controls, effective output feedback adaptive control is developed using backstepping. The closed-loop system is proved to be semiglobally uniformly ultimate bounded (SGUUB) by using Lyapunov method. The output tracking errors are guaranteed to converge into a compact set whose size is adjustable, and all the other signals in the closed-loop system are proved to be bounded. Simulation results show the effectiveness of the proposed control scheme.
authors.affiliation: Department of Electrical and Computer Engineering, the National University of Singapore, Singapore 117576, Singapore.
authors.forename: Jin
authors.initials: J
authors.lastname: Zhang
authors.forename: Shuzhi Sam
authors.initials: SS
authors.lastname: Ge
authors.forename: Tong Heng
authors.initials: TH
authors.lastname: Lee
mesh_terms: D000465:Algorithms; D003198:Computer Simulation; D005246:Feedback; D008962:Models, Theoretical; D016571:Neural Networks, Computer; D017711:Nonlinear Dynamics; D012815:Signal Processing, Computer-Assisted; D013598:Systems Theory; D013997:Time Factors