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Adaptive Backstepping Sliding Mode Control of Tractor-trailer System with Input Delay Based on RBF Neural Network

Zengke Jin, Zhenying Liang*, Xi Wang, and Mingwen Zheng
International Journal of Control, Automation, and Systems, vol. 19, no. 1, pp.76-87, 2021

Abstract : In this paper, an adaptive sliding mode neural network(NN) control method is investigated for input delay tractor-trailer system with two degrees of freedom. An uncertain camera-object kinematic tracking error model of a tractor car with n trailers with input delay is proposed. Radial basis function neural networks(RBFNNs) are applied to approximate the unknown functions in the error model. A sliding mode surface with variable structure control is designed by using backstepping method. Then, an adaptive NN sliding mode control method is thus obtained by combining Lyapunov-Krasovskii functionals. The controller realizes the global asymptotic trajectories tracking of the kinematics system. The stability of the closed-loop system is strictly proved by the Lyapunov theory. Matlab simulation results demonstrate the feasibility of the proposed method.

Keyword : Input delay, RBF Neural Network, sliding mode, tracking control, trailers.

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