Adaptive Neural PD Control With Semiglobal Asymptotic Stabilization Guarantee

• Main Authors: Pan, Yongping, Yu, Haoyong, Er, Meng Joo
• Other Authors: School of Electrical and Electronic Engineering
• Format: Article
• Language: English
• Published: 2016
• Subjects: Adaptive approximation; Asymptotic stabilization; Proportional-derivative (PD) control; Radial-basis-function neural network; Semiglobal stability; Uncertain nonlinear system
• Online Access: https://hdl.handle.net/10356/81978; http://hdl.handle.net/10220/41049
• Institution: Nanyang Technological University

This paper proves that adaptive neural plus proportional-derivative (PD) control can lead to semiglobal asymptotic stabilization rather than uniform ultimate boundedness for a class of uncertain affine nonlinear systems. An integral Lyapunov function-based ideal control law is introduced to avoid th...