Parametric Neural Network-Based Model Free Adaptive Tracking Control Method and Its Application to AFS/DYC System

Abstract

This paper deals with adaptive nonlinear identification and trajectory tracking problem for model free nonlinear systems via parametric neural network (PNN). Firstly, a more effective PNN identifier is developed to obtain the unknown system dynamics, where a parameter error driven updating law is synthesized to ensure good identification performance in terms of accuracy and rapidity. Then, an adaptive tracking controller consisting of a feedback control term to compensate the identified nonlinearity and a sliding model control term to deal with the modeling error is established. The Lyapunov approach is synthesized to ensure the convergence characteristics of the overall closed-loop system composed of the PNN identifier and the adaptive tracking controller. Simulation results for an AFS/DYC system are presented to confirm the validity of the proposed approach.