| Title |
Neural-networks-based Disturbance Observer and Tracker Design in the Presence of Unknown Control Direction and Non-affine Nonlinearities |
| Authors |
김형오(Kim, Hyoung Oh) ; 유성진(Yoo, Sung Jin) |
| DOI |
https://doi.org/10.5370/KIEE.2017.66.4.666 |
| Keywords |
Nonlinear disturbance observer ; Unknown control direction ; Adaptive technique |
| Abstract |
A disturbance-observer-based adaptive neural tracker design problem is investigated for a class of perturbed uncertain non-affine nonlinear systems with unknown control direction. A nonlinear disturbance observer (NDO) design methodology using neural networks is presented to construct a tracking control scheme with the attenuation effect of an external disturbance. Compared with previous control results using NDO for nonlinear systems in non-affine form, the major contribution of this paper is to design a NDO-based adaptive tracker without the sign information of the control coefficient. The stability of the closed-loop system is analyzed in the sense of Lyapunov stability. |