Abstract
In this study, we propose an adaptive neural network (NN) control approach for a 2-DOF helicopter system characterized by finite-time prescribed performance and input saturation. Initially, the NN is utilized to estimate the system’s uncertainty. Subsequently, a novel performance function with finite-time attributes is formulated to ensure that the system’s tracking error converges to a narrow margin within a predefined time span. Furthermore, adaptive parameters are integrated to address the inherent input saturation within the system. The boundedness of the system is then demonstrated through stability analysis employing the Lyapunov function. Finally, the effectiveness of the control strategy delineated in this investigation is validated through simulations and experiments.
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Data Availability
The datasets used or analyzed during the current study are available from the corresponding author on reasonable request.
Code Availability
The datasets used or analyzed during the current study are available from the corresponding author on reasonable request.
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Funding
This work was supported in part by the National Natural Science Foundation of China under Grant 62373390, in part by the Guangdong Basic and Applied Basic Research Foundation under Grant 2023B1515120018, 2023B1515120019 and 2022B1515120059, in part by the Science and Technology Planning Project of Guangzhou, China under Grant 2023A03J0120, and in part by the Guangdong-Hong Kong-Macao Key Laboratory of Multi-scale Information Fusion and Collaborative Optimization Control of Complex Manufacturing Process.
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All authors contributed to the study conception and design. Hui Bi—Conceptulization, Methdology, Software, Data curation, Writing-original draft. Jian Zhang—Software, Data curation, Methdology, Writing-original draft. XiaoWei Wang—Supervision, investigation, data curation. Shuangyin Liu— investigation, Supervision. Zhijie Zhao—resources, project administration. Tao Zou—validation, investigation.
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Bi, H., Zhang, J., Wang, X. et al. Neural Network-based Adaptive Finite-time Control for 2-DOF Helicopter Systems with Prescribed Performance and Input Saturation. J Intell Robot Syst 110, 132 (2024). https://doi.org/10.1007/s10846-024-02165-5
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DOI: https://doi.org/10.1007/s10846-024-02165-5