Command-filtered adaptive neural network backstepping quantized control for fractional-order nonlinear systems with asymmetric actuator dead-zone via disturbance observer

Abstract

An adaptive neural network backstepping quantized control of fractional-order nonlinear systems with asymmetric actuator dead-zone and unknown external disturbance is investigated in this paper. An adaptive NN mechanism is designed to estimate uncertain functions. A command filter is introduced to estimate the virtual control variable as well as its derivative, so that the “explosion of complexity” problem existed in the classical backstepping method can be avoided. To handle the unknown external disturbance, a fractional-order disturbance observer is developed. Moreover, a hysteresis-type quantizer is used to quantify the final input signal to overcome the system performance damage caused by the actuator dead-zone. The quantized input signal can ensure that all the involved signals stay bounded and the tracking error converges to an arbitrarily small region of the origin. Finally, two examples are presented to verify the effectiveness of the proposed method.