Decentralized adaptive output feedback dynamic surface control for stochastic nonstrict‐feedback interconnected nonlinear systems with actuator failures and input quantization via command filter

Abstract

AbstractIn this article, a new decentralized adaptive neural output feedback control scheme based on first‐order command filter is proposed for stochastic nonstrict‐feedback interconnected systems with prescribed performance, input quantization, actuator failures and unmodeled dynamics. The unknown smooth functions are eliminated by using the radial basis function neural networks. The immeasurable states in the system are estimated using the decentralized K‐filters, unmodeled dynamics is processed using dynamic signal, and the hyperbolic tangent function is applied to the construction of the prescribed performance function. The hysteretic quantizer and actuator failure are denoted in the form of linearization, and a smoothing function is introduced to compensate for the effects of quantization and bounded stuck faults. Based on the dynamic surface control (DSC) method and using the properties of Gaussian function to deal with stochastic nonstrict‐feedback interconnected systems, the first‐order command filter is used to replace the first‐order filter in the traditional DSC to eliminate the influence of filtering error on the systems, and an error compensation signal is introduced at the recursive each step of the design to construct a new error dynamic surface, which simplifies the derivation process and the design of the controller. Finally, the Lyapunov method is used to prove that all the signals in the whole controlled system are semiglobally uniformly ultimately bounded in probability and the tracking error is within the time‐varying constraint. The effectiveness of the proposed decentralized adaptive control method is verified by a numerical simulation and an example simulation.