LAUSR

In this paper, a novel neural-network (NN)-based adaptive tracking controller design method is presented for the single-input/single-output nonlinear stochastic switched systems in lower triangular structures with an output constraint. First, a well-designed nonlinear mapping is introduced to transform the switched stochastic system to a new system without constraints, which implies the controller design of the transformed system is equivalent to that of the stochastic switched system. Then radial basis function NNs are applied to model the unknown nonlinearities and the adaptive backstepping technique is employed to construct two classes of adaptive neural controllers under different adaptive laws. It is proved that both controllers can assure all the signals in the closed-loop remain bounded in probability, and the tracking error finally converges to a neighborhood of the origin without violating the constraint. Furthermore, the use of the nonlinear mapping to deal with the asymmetric output constraint is also studied as a generalization result. Two illustrative examples with numerical data and simulation results are given to show the validity and performance of the proposed control schemes.