dynamic feedback backstepping control for a class of mimo nonaffine block nonlinear systems动态反馈同步控制针对一类mimo非线性系统不均匀块.pdfVIP

Hindawi Publishing Corporation Mathematical Problems in Engineering Volume 2012, Article ID 493715, 18 pages doi:10.1155/2012/493715 Research Article Dynamic Feedback Backstepping Control for a Class of MIMO Nonaffine Block Nonlinear Systems Hai-Yan Li, Yun-An Hu, Jian-Cun Ren, and Min Zhu Department of Control Engineering, Naval Aeronautical and Astronautical University, Yantai, Shandong 264001, China Correspondence should be addressed to Yun-An Hu, hya507@ Received 23 November 2011; Revised 26 January 2012; Accepted 4 April 2012 Academic Editor: Christos H. Skiadas Copyright q 2012 Hai-Yan Li et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. For a class of MIMO nonaffine block nonlinear systems, a neural network- NN- based dynamic feedback backstepping control design method is proposed to solve the tracking problem. This problem is difficult to be dealt with in the control literature, mainly because the inverse controls of block nonaffine systems are not easy to resolve. To overcome this difficulty, dynamic feedback, backstepping design, sliding mode-like technique, NN, and feedback linearization techniques are incorporated to deal with this problem, in which the NNs are used to approximate and adaptively cancel the uncertainties. It is proved that the whole closed-loop system is stable in the sense of Lyapunov. Finally, simulations verify the effectiveness of the proposed scheme. 1. Introduction In the last two decades, a number of efforts have been made on developing systematic design tools for control of uncertain nonlinear systems. Among the obtained results, feedback linearization techniques 1, ad