Adaptive Neural Network Output Feedback Research Articles

Steering-Angle Prediction and Controller Design Based on Improved YOLOv5 for Steering-by-Wire System.

A crucial role is played by steering-angle prediction in the control of autonomous vehicles (AVs). It mainly includes the prediction and control of the steering angle. However, the prediction accuracy and calculation efficiency of traditional YOLOv5 are limited. For the control of the steering angle, angular velocity is difficult to measure, and the angle control effect is affected by external disturbances and unknown friction. This paper proposes a lightweight steering angle prediction network model called YOLOv5Ms, based on YOLOv5, aiming to achieve accurate prediction while enhancing computational efficiency. Additionally, an adaptive output feedback control scheme with output constraints based on neural networks is proposed to regulate the predicted steering angle using the YOLOv5Ms algorithm effectively. Firstly, given that most lane-line data sets consist of simulated images and lack diversity, a novel lane data set derived from real roads is manually created to train the proposed network model. To improve real-time accuracy in steering-angle prediction and enhance effectiveness in steering control, we update the bounding box regression loss function with the generalized intersection over union (GIoU) to Shape-IoU_Loss as a better-converging regression loss function for bounding-box improvement. The YOLOv5Ms model achieves a 30.34% reduction in weight storage space while simultaneously improving accuracy by 7.38% compared to the YOLOv5s model. Furthermore, an adaptive output feedback control scheme with output constraints based on neural networks is introduced to regulate the predicted steering angle via YOLOv5Ms effectively. Moreover, utilizing the backstepping control method and introducing the Lyapunov barrier function enables us to design an adaptive neural network output feedback controller with output constraints. Finally, a strict stability analysis based on Lyapunov stability theory ensures the boundedness of all signals within the closed-loop system. Numerical simulations and experiments have shown that the proposed method provides a 39.16% better root mean squared error (RMSE) score than traditional backstepping control, and it achieves good estimation performance for angles, angular velocity, and unknown disturbances.

Output feedback adaptive neural network control for uncertain nonsmooth systems with application

The output feedback adaptive neural network control problem is addressed for uncertain nonsmooth systems with network communication constraints. First, a funnel function is provided to ensure that the tracking error restrains the pre-specified performance and improves the transient and steady-state performance simultaneously. Second, an event-triggered controller including the control input, a fixed threshold and the tracking error is designed to alleviate the communication burden. It is rigorously mathematically proved that there exists a positive lower bound to avoid the Zeno behavior. With the designed observer, the control algorithm assures that all the signals are semi-globally uniformly ultimately bounded. Finally, the validity of the proposed scheme is demonstrated through an application example.

Event-Triggered Adaptive Fuzzy Neural Network Output Feedback Control for Constrained Stochastic Nonlinear Systems.

This article investigates the problem of command-filtered event-triggered adaptive fuzzy neural network (FNN) output feedback control for stochastic nonlinear systems (SNSs) with time-varying asymmetric constraints and input saturation. By constructing quartic asymmetric time-varying barrier Lyapunov functions (TVBLFs), all the state variables are not to transgress the prescribed dynamic constraints. The command-filtered backstepping method and the error compensation mechanism are combined to eliminate the issue of "computational explosion" and compensate the filtering errors. An FNN observer is developed to estimate the unmeasured states. The event-triggered mechanism is introduced to improve the efficiency in resource utilization. It is shown that the tracking error can converge to a small neighborhood of the origin, and all signals in the closed-loop systems are bounded. Finally, a physical example is used to verify the feasibility of the theoretical results.

Event-triggering adaptive neural network output feedback control for networked systems under false data injection attacks

This paper investigates the event-triggering adaptive neural network (NN) output feedback control problem for networked control systems subject to false data injection (FDI) attacks. To reduce unnecessary data transmission, an event-triggered mechanism (ETM) related to the measured output is designed on the channel of the sensor-to-observer. Meanwhile, a novel ETM associated with the observer state and parameter estimation signal is devised on the channel of the observer-to-controller to save communication resources on the controller-to-actuator channel. Subsequently, NN technique is employed to approximate FDI attacks, then an adaptive neural output feedback controller is designed to counteract the impact of FDI attacks on the system. Sufficient conditions for the semi-globally uniformly ultimately bounded of the system are obtained by means of the Lyapunov function. Additionally, a co-design scheme for the control gain, observer gain and event-triggered parameters is presented. Finally, a practical example is given to demonstrate the effectiveness of the proposed method.

Decentralized event‐triggered output feedback adaptive neural network control for a class of MIMO uncertain strict‐feedback nonlinear systems with input saturation

SummaryFor a class of multiple‐input multiple‐output large‐scale nonlinear systems in strict‐feedback form with input saturation, external disturbances and immeasurable states, an adaptive decentralized neural network (NN) control strategy on the basis of event triggered mechanism is investigated in this article. In contrast to the literature, the proposed method is centered on the control‐error as a replacement to the tracking‐error that leads to a simplified derivation approach of adaptive laws. Furthermore, the control gains for this class of systems are considered unknown nonlinear functions and not assumed as simple unity or known gains as always done in the literature. Moreover, the challenge of losing controllability that typically arises in state transformation‐based methods, as reported in the literature, is entirely resolved in our approach. Last and not least, all restrictions imposed on unmatched interconnections are eliminated along with avoiding the complexity explosion caused by recursive back‐stepping designs. For this end, the unknown ideal control laws are approximated using NNs, while additional control terms are added to handle saturation effects, unknown interactions, and approximation errors. Additionally, fuzzy inference systems are employed to estimate unknown control errors. Due to the strictly positive real property, the tracking errors are proved to belong to a small compact set using Lyapunov theory. Simulation results demonstrate the effectiveness of the proposed approach.

Output-Feedback Adaptive Neural Network Control for Uncertain Nonsmooth Nonlinear Systems With Input Deadzone and Saturation.

Nonsmooth nonlinear systems can model many practical processes with discontinuous property and are difficult to be stabilized by classical control methods like smooth nonlinear systems. This article considers the output-feedback adaptive neural network (NN) control problem for nonsmooth nonlinear systems with input deadzone and saturation. First, the nonsmooth input deadzone and saturation is converted to a smooth function of affine form with bounded estimation error by means of the mean-value theorem. Second, with the help of approximation theorem and Filippov's differential inclusion theory, the given nonsmooth system is converted to an equivalent smooth system model. Then, by introducing a proper logarithmic barrier Lyapunov function (BLF), an output-feedback adaptive NN strategy is set up by constructing an appropriate observer and adopting the adaptive backstepping technique. A new stability criterion is established to guarantee that all the signals in the closed-loop system are semiglobally uniformly ultimately bounded (SGUUB). Finally, comparative simulations through Chua's oscillator are offered to verify the effectiveness of the proposed control algorithm.

Adaptive Neural Network Output Feedback Control of Uncertain Underactuated Systems With Actuated and Unactuated State Constraints

Underactuated systems are widely applied in industry, construction, manufacturing, etc., and the complex working environment puts forward higher demands for safety and transient performance. Hence, it is necessary to consider how to simultaneously ensure actuated and unactuated motion constraints by fewer control inputs, especially when systems suffer from model uncertainties, unavailable velocities, etc. Unfortunately, it is still a significant challenge to overcome in real applications and theoretical analysis. Additionally, most existing studies merely consider the specific control objects and few general methods are applicable to a class of underactuated systems. To this end, we design a new adaptive output-feedback controller for a class of uncertain underactuated systems. Compared with existing methods only handling actuated constraints, an important merit of this article is that by introducing the elaborately designed coupling term composed of actuated and unactuated constraints together, all state variables are kept within the preset time-variant ranges and converge to their desired values. Furthermore, a new Lyapunov function candidate is utilized to provide a theoretical guarantee. As far as we know, without the need of exact model knowledge and velocity feedback, this article provides the first solution to achieve accurate motion control and state constraints for both actuated and unactuated variables, which is meaningful both theoretically and practically. Meanwhile, the asymptotic stability of the equilibrium point for the closed-loop system is proven by utilizing Lyapunov techniques and Barbalat’s lemma. For verification, the presented controller is applied to underactuated overhead and rotary cranes, respectively, together with detailed theoretical analysis and experimental validations.

Adaptive neural network output feedback robust control of electromechanical servo system with backlash compensation and disturbance rejection

In this paper, the high-performance tracking control of electromechanical servo systems is concerned. A novel neural network state observer is designed to observe the unknown states. Compared with existing neural network observers, the proposed observer has higher observation accuracy and better robustness. The addition of a fixed-weight single-node neural network can effectively improve the approximation ability of the double-layer neural network without adding a huge amount of calculation. With the addition of the new gain adjustment terms, the observer can still achieve high observation accuracy when the neural network approximation performance is poor, and the observation error can be kept arbitrarily small. To cope with the inherent explosion of the complexity problem in the classical backstepping method in controller design, a command filter is utilized. Compared with other results, the command filtering error has also been considered, and compensating signals are designed to eliminate it. The Lyapunov function is used to show the stability of the controller. Extensive comparative simulations and experimental results verify the effectiveness and advancement of the proposed control strategy compared with other controllers.

Observer-Based Adaptive Neural Output Feedback Constraint Controller Design for Switched Systems Under Average Dwell Time

Aiming at a class of switched uncertain nonlinear strict-feedback systems under the action of average dwell time switching signal, this paper proposes a novel adaptive neural network output feedback tracking control based on the consideration of the full state constraints. The controller is proposed based on neural networks. One of the key characteristics of the system discussed is that the state variables cannot be measured and the system states need to be kept within the constraint ranges. For the sake of estimating the unmeasured states, the observer is constructed. In order to ensure all states which are within the time-varying boundary, the tangent barrier Lyapunov function (BLF-Tan) is selected in the design process. The boundedness of the closed-loop signals with average dwell time is guaranteed by the designed controllers and all the states limit in their constrained sets. It has been proved that the output tracking error converge to a small neighborhood of zero. In addition, the significance of the presented control strategy is verified and tested by a simulation example.

Output-Feedback Based Simplified Optimized Backstepping Control for Strict-Feedback Systems with Input and State Constraints

In this paper, an adaptive neural-network (NN) output feedback optimal control problem is studied for a class of strict-feedback nonlinear systems with unknown internal dynamics, input saturation and state constraints. Neural networks are used to approximate unknown internal dynamics and an adaptive NN state observer is developed to estimate immeasurable states. Under the framework of the backstepping design, by employing the actor-critic architecture and constructing the tan-type Barrier Lyapunov function (BLF), the virtual and actual optimal controllers are developed. In order to accomplish optimal control effectively, a simplified reinforcement learning (RL) algorithm is designed by deriving the updating laws from the negative gradient of a simple positive function, instead of employing existing optimal control methods. In addition, to ensure that all the signals in the closed-loop system are bounded and the output can follow the reference signal within a bounded error, all state variables are confined within their compact sets all times. Finally, a simulation example is given to illustrate the effectiveness of the proposed control strategy.

Observer-Based Neuro-Adaptive Optimized Control of Strict-Feedback Nonlinear Systems With State Constraints.

This article proposes an adaptive neural network (NN) output feedback optimized control design for a class of strict-feedback nonlinear systems that contain unknown internal dynamics and the states that are immeasurable and constrained within some predefined compact sets. NNs are used to approximate the unknown internal dynamics, and an adaptive NN state observer is developed to estimate the immeasurable states. By constructing a barrier type of optimal cost functions for subsystems and employing an observer and the actor-critic architecture, the virtual and actual optimal controllers are developed under the framework of backstepping technique. In addition to ensuring the boundedness of all closed-loop signals, the proposed strategy can also guarantee that system states are confined within some preselected compact sets all the time. This is achieved by means of barrier Lyapunov functions which have been successfully applied to various kinds of nonlinear systems such as strict-feedback and pure-feedback dynamics. Besides, our developed optimal controller requires less conditions on system dynamics than some existing approaches concerning optimal control. The effectiveness of the proposed optimal control approach is eventually validated by numerical as well as practical examples.

Observer-Based Adaptive Neural Network Control for Nonstrict-Feedback Nonlinear Systems With Time Delays

An observer-based adaptive neural network control problem was investigated for a class of nonstrict-feedback nonlinear systems with time delays. A state observer was constructed to estimate unknown variables in nonlinear systems. With the approximation ability of RBF NNs and the backstepping technique, an adaptive neural network output feedback control approach was proposed. The designed controller ensures the semi-global uniform boundedness of all signals in the closed-loop system. Finally, the simulation example shows the effectiveness of the proposed control approach.

Adaptive prescribed performance neural network control for switched stochastic pure-feedback systems with unknown hysteresis

This paper investigates the problem of neural network (NN) prescribed performance tracking control for a class of switched stochastic nonlinear pure-feedback systems which contain unknown nonlinear functions, unmeasured state variables, and unknown hysteresis input. It provides an adaptive NN controller which is not restricted to a particular type of hysteresis input. A general mathematical model is introduced to describe two kinds of hysteresis nonlinearities and to utilize in the control design producer. Other focus of this paper is on the performance constraint problem to avoid performance degradation and system damage in practical control systems. Prescribed performance control (PPC) and backstepping technique are thus synthesized to develop an adaptive NN output feedback tracking control scheme under deterministic switching signal. Regarding this concern, to cope with the cause of non-differentiable difficulties and complex deductions in traditional PPC, a new asymmetry error transformation is employed. Moreover, radial basis function NNs (RBFNNs) are applied to approximate the unknown nonlinear functions and to construct a NN nonlinear observer to estimate the immeasurable state variables. Based on Lyapunov stability theory, it is demonstrated that the proposed controller can guarantee that all signals in the closed-loop system are semiglobally uniformly ultimately bounded in probability and the tracking error converges to a small neighborhood of the origin with the prescribed performance bounds. Finally, two simulation examples are provided to confirm the advantages of the presented control design approach.

Adaptive neural network output feedback control of incommensurate fractional-order PMSMs with input saturation via command filtering and state observer

In this paper, an adaptive neural network (NN) output feedback control is investigated for incommensurate fractional-order permanent magnet synchronous motors under the condition of input saturation. First, a NN state observer is presented to obtain the ‘virtual estimate’ of angle speed, where the unknown function is approximated by the NN. Then, in order to solve the input saturation problem, an auxiliary system is developed under fractional-order framework. Next, the command filtered technology with an error compensation mechanism is used to handle the ‘explosion of complexity’ in backstepping and remove the filtering errors. In addition, the frequency distributed model is utilized such that the Lyapunov theory is available in the backstepping design and the system stability is demonstrated. Finally, numerical simulations confirm the availability of the proposed design.

Observer-based Adaptive Neural Network Output-feedback Control for Nonlinear Strict-feedback Discrete-time Systems

This paper focuses on an observer-based output-feedback controller design for a nonlinear discrete-time system. The major characteristics of this system is that all of the subsystems are in strict-feedback form and all the states of the system are not measurable. An output tracking control problem is firstly considered in this paper. NNs are utilized to approximate unknown functions, while a state observer is designed to approximatethe unvailable states. An adaptive controller is designed on the basis of the backstepping technique. On the basis of the Lyapunov analysis approach, the boundedness of all the signals is provided. The feasibility of the proposed scheme is verified through a simulation example.

Output Feedback Adaptive Control for Stochastic Non-strict-feedback System with Dead-zone

This paper focuses on the problem of adaptive neural network (NN) control for a class of nonlinear stochastic non-strict feedback system with dead-zone input. A novel adaptive NN output feedback control approach is first proposed for stochastic non-strict feedback nonlinear systems. In order to solve the problem of dead-zone input, a linear decomposition method is proposed. On the basis of the state observer, an output feedback adaptive NN controller is designed by backstepping approach. It is shown that the proposed controller guarantees that all the signals of the closed-loop systems are semi-globally uniformly bounded in probability. Simulation results further illustrate the effectiveness of the proposed approach.

Adaptive neural network output feedback control for stochastic nonlinear systems with full state constraints

This paper presents an adaptive neural network output feedback control method for stochastic nonlinear systems with full state constraints. The barrier Lyapunov functions are used to conquer the effect of state constraints to system performance. The neural network state observer is established to estimate the unmeasured states. By using dynamic surface control technique, the “explosion of complexity” issue existing in the backstepping design is overcome. The proposed control scheme can guarantee that all signals of the system are bounded and the system output can follow the desired signal. Finally, two examples are given to verify the effectiveness of our control method.

Output feedback control for constrained pure-feedback systems: A non-recursive and transformational observer based approach

In this paper we investigate the control problem of uncertain pure-feedback systems under time-varying output constraints using output information only. By making use of the salient cascade properties of pure-feedback systems as well as a novel scaling function, we convert the constrained system into a normal form without constraints. Then by using only one single neural network (NN) unit for nonlinear approximation and one high-gain observer for transformed state estimation, an adaptive NN output feedback control scheme is constructed. Different from existing results in the literature, our method exhibits the following features: (1) achieving semi-global stable control with only output feedback without imposing any additional restrictive condition; (2) avoiding the recursive design procedures required by some typical approaches such as backstepping; and (3) recovering the steady-state tracking performance under the state feedback. Besides, all the signals in the closed-loop are bounded and the output constraints are never violated. The effectiveness and flexibility of the developed method is demonstrated through control design and simulation on the non-trivial aircraft short-period dynamics.

Observer-based adaptive neural control for switched stochastic pure-feedback systems with input saturation

The purpose of this paper is to investigate the problem of adaptive neural network (NN) output-feedback tracking control for input saturated switched stochastic nonlinear systems in pure-feedback form with unmeasured states. In order to facilitate the controller design process, a dead zone-based model of saturation is implemented and radial basis function NNs (RBFNNs) are employed to approximate unknown nonlinear functions and to construct an NN switched nonlinear observer to cope with difficulties raised by the presence of immeasurable state variables. Based on the adaptive backstepping technique and Lyapunov function method, an adaptive NN output feedback control scheme is developed. Furthermore, it is proved that the proposed controller can provide that, under arbitrary deterministic switching, all signals in the closed-loop system are semiglobally uniformly ultimately bounded in probability and the tracking error converges to a small neighborhood of the origin. Finally, simulation examples are presented to validate the effectiveness of the proposed adaptive NN control approach.

Neural networks-based adaptive output feedback control for a class of uncertain nonlinear systems with input delay and disturbances

This paper focuses on the problem of adaptive output feedback control for a class of uncertain nonlinear systems with input delay and disturbances. Radial basis function neural networks (NNs) are employed to approximate the unknown functions and an NN observer is constructed to estimate the unmeasurable system states. Moreover, an auxiliary system is introduced to compensate for the effect of input delay. With the aid of the backstepping technique and Lyapunov stability theorem, an adaptive NN output feedback controller is designed which can guarantee the boundedness of all the signals in the closed-loop systems. Finally, a simulation example is given to illustrate the effectiveness of the proposed method.