Adaptive neural network tracking control for a class of switched stochastic pure-feedback nonlinear systems with backlash-like hysteresis

Abstract

ABSTRACTIn this paper, an adaptive neural network tracking control approach is proposed for a class of switched stochastic pure-feedback nonlinear systems with backlash-like hysteresis. In the design procedure, an affine variable is constructed, which avoids the use of the mean value theorem, and the additional first-order low-pass filter is employed to deal with the problem of explosion of complexity. Then, a common Lyapunov function and a state feedback controller are explicitly obtained for all subsystems. It is proved that the proposed controller that guarantees all signals in the closed-loop system are semi-globally uniformly ultimately bounded and the tracking error remains an adjustable neighbourhood of the origin. Finally, simulation results show the effectiveness of the presented control design approach.