title: Projection-based adaptive neurocontrol with switching logic deadzone tuning.
abstract: In this brief, an adaptive neural network (NN) controller is proposed for multiple-input-multiple-output (MIMO) nonlinear systems with triangular control structure and unknown control directions. Deadzones are employed in the projection-based NN weight learning laws and the Nussbaum parameter update laws with levels tuned by an innovative switching logic tuning mechanism. Detailed analysis using a family of Lyapunov-like integral functions and the function approximation capability of NNs proves that all the tracking errors are semiglobal uniform ultimate bounded in small neighborhoods of the origin while the closed-loop system variables (state vector, NN weights, Nussbaum parameters) and the control law remain bounded. A simulation study confirms the theoretical results and verifies the effectiveness of the proposed design.
authors.affiliation: Department of Electronic and Computer Engineering, Technical University of Crete, Chania, 73100 GR, Greece. psilakish@hotmail.com
authors.forename: Haris E
authors.initials: HE
authors.lastname: Psillakis
mesh_terms: D000465:Algorithms; D001185:Artificial Intelligence; D003198:Computer Simulation; D016014:Linear Models; D008128:Logic; D016571:Neural Networks, Computer; D017711:Nonlinear Dynamics; D013997:Time Factors; D035501:Uncertainty