Eleven-point discrete perturbation-handling ZNN algorithm applied to tracking control of MIMO nonlinear system under various disturbances

The multiple-input–multiple-output nonlinear system (MIMO-NS) is a hot research topic in various science and application fields. To solve the tracking control (TC) problem of MIMO-NS effectively, a zeroing neuro-PID controller and a continuous perturbation-handling ZNN (CPHZNN) model are proposed. The proposed model robustly handles various internal perturbations generated by external disturbances. To achieve high-precision computation, a novel 11-point Zhang time discretization (ZTD) formula with order-5 precision is designed. By employing this formula, an 11-point discrete perturbation-handling ZNN (11P-DPHZNN) algorithm with order-6 precision is proposed, aiming at providing real-time solution to the TC problem. Theoretical analyses verify the convergence performance of the proposed 11P-DPHZNN algorithm under four types of perturbations. Moreover, numerical and comparative experiments substantiate the effectiveness, superiority, and perturbation resistance of the proposed 11P-DPHZNN algorithm under various perturbations.