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Saturated observer‐based adaptive neural network leader‐following control of N tractors with n‐ trailers with a guaranteed performance
Author(s) -
Shojaei Khoshnam,
Abdolmaleki Mohammad
Publication year - 2021
Publication title -
international journal of adaptive control and signal processing
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.73
H-Index - 66
eISSN - 1099-1115
pISSN - 0890-6327
DOI - 10.1002/acs.3188
Subject(s) - control theory (sociology) , artificial neural network , controller (irrigation) , computer science , tracking error , trajectory , nonlinear system , bounded function , adaptive control , actuator , mathematics , control (management) , artificial intelligence , mathematical analysis , physics , quantum mechanics , astronomy , agronomy , biology
This article addresses the leader‐following neural network adaptive observer‐based control of N tractors connected to n trailers with the prescribed performance specifications. To propose the controller, a change of coordinates and a nonlinear error transformation are used to transform the constrained error dynamics to a new second‐order Euler‐Lagrange unconstrained error dynamics which inherits all structural properties of i th vehicle dynamic model. By combining a projection‐type neural network and an adaptive robust technique, a novel leader‐following saturated output‐feedback controller is proposed to force that i th vehicle tracks a virtual leader trajectory with the prescribed transient and steady‐state characteristics while reducing the actuator saturation risk and compensating all unknown dynamic model parameters, external disturbances, unmolded dynamics, and NN approximation errors. A saturated velocity observer is heuristically proposed to obviate the requirement for the velocity measurements of i th vehicle without any unwanted peaking. A Lyapunov‐based stability analysis is utilized to prove that all the tracking and state observation errors are semi‐globally uniformly ultimately bounded (SGUUB) and they converge to small bounds including the origin with a prescribed performance. At the end, computer simulations will be shown to validate the efficacy of the proposed controller in practice.