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Neural network-based fixed-time sliding mode control for a class of nonlinear Euler-Lagrange systems

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Listed:
  • Zhao, Zhi-Ye
  • Jin, Xiao-Zheng
  • Wu, Xiao-Ming
  • Wang, Hai
  • Chi, Jing

Abstract

In this paper, the problem of robust fixed-time trajectory tracking control for a class of nonlinear Euler-Lagrange (EL) systems with exogenous disturbances and uncertain dynamics is addressed. A neural network (NN)-based adaptive estimation algorithm is employed to approximate the continuous uncertain dynamics, so that the dynamics of the EL system can be rebuild based on the estimations. In order to guarantee the EL system following the desired trajectory within a fixed-time, an adaptive fixed-time sliding mode control law is proposed to remedy the negative influence of uncertain dynamics and exogenous disturbances. Lyapunov stability theory is utilized to prove the stability and fixed-time convergence of the EL system. The efficiency of the developed NN-based adaptive fixed-time control strategy is substantiated with simulation results.

Suggested Citation

  • Zhao, Zhi-Ye & Jin, Xiao-Zheng & Wu, Xiao-Ming & Wang, Hai & Chi, Jing, 2022. "Neural network-based fixed-time sliding mode control for a class of nonlinear Euler-Lagrange systems," Applied Mathematics and Computation, Elsevier, vol. 415(C).
    • Handle: RePEc:eee:apmaco:v:415:y:2022:i:c:s009630032100802x
    DOI: 10.1016/j.amc.2021.126718
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    References listed on IDEAS

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    1. Yang, Yi & Chen, Fei & Lang, Jiahong & Chen, Xiangyong & Wang, Jing, 2021. "Sliding mode control of persistent dwell-time switched systems with random data dropouts," Applied Mathematics and Computation, Elsevier, vol. 400(C).
    2. Liu, Yu-An & Tang, Shengdao & Liu, Yufan & Kong, Qingkai & Wang, Jing, 2021. "Extended dissipative sliding mode control for nonlinear networked control systems via event-triggered mechanism with random uncertain measurement," Applied Mathematics and Computation, Elsevier, vol. 396(C).
    3. Xiao, Xiaoqing & Park, Ju H. & Zhou, Lei, 2018. "Event-triggered control of discrete-time switched linear systems with packet losses," Applied Mathematics and Computation, Elsevier, vol. 333(C), pages 344-352.
    4. Lü, Shao-Yu & Jin, Xiao-Zheng & Wang, Hai & Deng, Chao, 2021. "Robust adaptive estimation and tracking control for perturbed cyber-physical systems against denial of service," Applied Mathematics and Computation, Elsevier, vol. 404(C).
    5. Xiao-Zheng Jin & Guang-Hong Yang & Xiao-Heng Chang, 2013. "Robust and adaptive tracking control against actuator faults with a linearised aircraft application," International Journal of Systems Science, Taylor & Francis Journals, vol. 44(1), pages 151-165.
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    Cited by:

    1. Zhang, Yanqi & Wang, Zhenlei & Wang, Xin, 2023. "Adaptive modified prescribed performance constraint control for uncertain nonlinear discrete-time systems," Applied Mathematics and Computation, Elsevier, vol. 441(C).

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