title: Singularity-free neural control for the exponential trajectory tracking in multiple-input uncertain systems with unknown deadzone nonlinearities.
abstract: The trajectory tracking for a class of uncertain nonlinear systems in which the number of possible states is equal to the number of inputs and each input is preceded by an unknown symmetric deadzone is considered. The unknown dynamics is identified by means of a continuous time recurrent neural network in which the control singularity is conveniently avoided by guaranteeing the invertibility of the coupling matrix. Given this neural network-based mathematical model of the uncertain system, a singularity-free feedback linearization control law is developed in order to compel the system state to follow a reference trajectory. By means of Lyapunov-like analysis, the exponential convergence of the tracking error to a bounded zone can be proven. Likewise, the boundedness of all closed-loop signals can be guaranteed.
authors.affiliation: Sección de Estudios de Posgrado e Investigación, ESIME UA-IPN, Avenida de las Granjas, No. 682, Colonia Santa Catarina, México, DF 02250, Mexico.
authors.forename: J Humberto
authors.initials: JH
authors.lastname: Pérez-Cruz
authors.affiliation: Sección de Estudios de Posgrado e Investigación, ESIME UA-IPN, Avenida de las Granjas, No. 682, Colonia Santa Catarina, México, DF 02250, Mexico.
authors.forename: José de Jesús
authors.initials: Jde J
authors.lastname: Rubio
authors.affiliation: Sección de Estudios de Posgrado e Investigación, ESIME UA-IPN, Avenida de las Granjas, No. 682, Colonia Santa Catarina, México, DF 02250, Mexico ; Departamento de Control Automático, CINVESTAV-IPN, Avenida Instituto Politécnico Nacional, No. 2508, México, DF 07360, Mexico.
authors.forename: Rodrigo
authors.initials: R
authors.lastname: Encinas
authors.affiliation: Sección de Estudios de Posgrado e Investigación, ESIME UA-IPN, Avenida de las Granjas, No. 682, Colonia Santa Catarina, México, DF 02250, Mexico.
authors.forename: Ricardo
authors.initials: R
authors.lastname: Balcazar