Adaptive Tracking Control for a Class of Stochastic Uncertain Nonlinear Systems With Input Saturation

In this technical note, the problem of adaptive tracking control is investigated for a class of stochastic uncertain nonlinear systems in the presence of input saturation. To analyze the effect of input saturation, an auxiliary system is employed. With the help of backstepping technique, an adaptive...

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Published in:	IEEE transactions on automatic control Vol. 62; no. 5; pp. 2498 - 2504
Main Authors:	Gao, Yong-Feng, Sun, Xi-Ming, Wen, Changyun, Wang, Wei
Format:	Journal Article
Language:	English
Published:	New York IEEE 01.05.2017 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Adaptive control Adaptive systems Adaptive tracking control Backstepping Design parameters Feedback control input saturation Mechanical systems Nonlinear systems Saturation Stability criteria Stochastic systems stochastic uncertain nonlinear system Tracking control Tracking errors
ISSN:	0018-9286, 1558-2523
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Abstract	In this technical note, the problem of adaptive tracking control is investigated for a class of stochastic uncertain nonlinear systems in the presence of input saturation. To analyze the effect of input saturation, an auxiliary system is employed. With the help of backstepping technique, an adaptive stochastic tracking control approach is developed. Under the proposed adaptive tracking controller, the boundedness of all the signals in the closed-loop system is achieved almost surely. Moreover, distinct from most of the existing results, the ultimate tracking error can be bounded by an explicit function of design parameters and input saturation error (the error between the control input and saturated input) in the mean quartic sense. Finally, an example is given to show the effectiveness of the proposed scheme.
AbstractList	In this technical note, the problem of adaptive tracking control is investigated for a class of stochastic uncertain nonlinear systems in the presence of input saturation. To analyze the effect of input saturation, an auxiliary system is employed. With the help of backstepping technique, an adaptive stochastic tracking control approach is developed. Under the proposed adaptive tracking controller, the boundedness of all the signals in the closed-loop system is achieved almost surely. Moreover, distinct from most of the existing results, the ultimate tracking error can be bounded by an explicit function of design parameters and input saturation error (the error between the control input and saturated input) in the mean quartic sense. Finally, an example is given to show the effectiveness of the proposed scheme.
Author	Xi-Ming Sun Wei Wang Yong-Feng Gao Changyun Wen
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SubjectTerms	Adaptive control Adaptive systems Adaptive tracking control Backstepping Design parameters Feedback control input saturation Mechanical systems Nonlinear systems Saturation Stability criteria Stochastic systems stochastic uncertain nonlinear system Tracking control Tracking errors
Title	Adaptive Tracking Control for a Class of Stochastic Uncertain Nonlinear Systems With Input Saturation
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