Simple Adaptive Control for MIMO Nonlinear Continuous-Time Systems Using Neural Networks

This paper presents a method of continuous-time SAC (simple adaptive control) for MIMO (multi-input multi-output) nonlinear systems using neural networks. The control input is given by the sum of the output of the simple adaptive controller and the output of the neural network. The neural network is used to compensate the nonlinearity of plant dynamics that is not taken into consideration in the usual SAC. The role of the neural network is to construct a linearized model by minimizing the output error caused by nonlinearities in the control systems.

[1]  H. Kaufman,et al.  Simple adaptive control of uncertain systems , 1988 .

[2]  Zenta Iwai,et al.  Robust and simple adaptive control systems , 1992 .

[3]  Gene F. Franklin,et al.  Digital control of dynamic systems , 1980 .

[4]  H. Kaufman,et al.  Global stability and performance of a simplified adaptive algorithm , 1985 .

[5]  Xi Sun,et al.  A multivariable bilinear adaptive controller with decoupling design , 2000, IEEE Trans. Autom. Control..

[6]  I. Mizumoto,et al.  Realization of simple adaptive control by using parallel feedforward compensator , 1994 .

[7]  Johan A. K. Suykens,et al.  Artificial neural networks for modelling and control of non-linear systems , 1995 .

[8]  Akira Sano,et al.  Adaptive Control Incorporating Neural Network , 1994 .

[9]  Jianming Lu,et al.  A Method of Model Reference Adaptive Control for MIMO Nonlinear Systems Using Neural Networks , 2001 .

[10]  G. W. Irwin,et al.  Control applications for feedforward networks , 1992 .

[11]  Ikuro Mizumoto,et al.  Simplified adaptive model output following control for plants with unmodelled dynamics , 1996 .

[12]  Jianming Lu,et al.  SAC for Nonlinear Systems Using Elman Recurrent Neural Networks , 2002 .

[13]  H. Kaufman,et al.  Implicit Adaptive Control for a Class of MIMO Systems , 1982, IEEE Transactions on Aerospace and Electronic Systems.

[14]  J. Broussard,et al.  Feedforward control to track the output of a forced model , 1978 .

[15]  Frank Allgöwer,et al.  High-gain adaptive λ-tracking for nonlinear systems , 1997, Autom..

[16]  Ikuro Mizumoto,et al.  Adaptive Output Feedback Control for MIMO Nonlinear Systems based on Feedback Exponential Passivity , 2001 .