title: Adaptive control for a class of second-order nonlinear systems with unknown input nonlinearities.
abstract: 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.
authors.affiliation: Dept. of Chem. Eng., Queen's Univ., Kingston, Ont., Canada.
authors.forename: T
authors.initials: T
authors.lastname: Zhang
authors.forename: M
authors.initials: M
authors.lastname: Guay