Abstract
An adaptive neural control for uncertain 2DOF helicopter systems with input saturation and time-varying output constraints is provided. A radial basis function neural network is used to estimate the uncertainty terms present in the system. The saturation error and the external disturbance are considered as a composite disturbance, and an adaptive auxiliary parameter is introduced to compensate it. An asymmetric barrier Lyapunov function is employed to address the constraint violation of the system output. The closed-loop stability of the system is then demonstrated by Lyapunov theory analysis. Simulation results demonstrate the effectiveness of the control strategy.
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