Adaptive Control for Stochastic Switched Nonlower Triangular Nonlinear Systems and Its Application to a One-Link Manipulator
- Authors
- Niu, Ben; Ahn, Choon Ki; Li, Huan; Liu, Ming
- Issue Date
- 10월-2018
- Publisher
- IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
- Keywords
- Adaptive output-feedback control; average dwell time (ADT); nonlower triangular nonlinear systems; switched stochastic systems
- Citation
- IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS, v.48, no.10, pp.1701 - 1714
- Indexed
- SCIE
SCOPUS
- Journal Title
- IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
- Volume
- 48
- Number
- 10
- Start Page
- 1701
- End Page
- 1714
- URI
- https://scholar.korea.ac.kr/handle/2021.sw.korea/72567
- DOI
- 10.1109/TSMC.2017.2685638
- ISSN
- 2168-2216
- Abstract
- This paper deals with the issue of adaptive observer-based stabilization for a more general class of uncertain switched stochastic nonlower triangular nonlinear systems with average dwell-time (ADT) switching. The completely unknown nonlinear functions possessing the entire states are handled using the neural networks universal approximation property and the variable separation technique. The main novelty of this paper is that it presents a universal formula for constructing an adaptive output-feedback controller of the considered system with only one adaptive parameter by designing a switched state observer. The theoretical analysis shows that the Lyapunov stability of the overall closed-loop system is ensured in the presence of ADT switching. Finally, the effectiveness and practicability of the obtained design scheme are illustrated by two simulation examples.
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