Robust adaptive control via neural linearization and compensation

We propose a new type of neural adaptive control via dynamic neural networks. For a class of unknown nonlinear systems, a neural identifier-based feedback linearization controller is first used. Dead-zone and projection techniques are applied to assure the stability of neural identification. Then four types of compensator are addressed. The stability of closed-loop system is also proven.

[1]  Bo Egardt,et al.  Stability of Adaptive Controllers , 1979 .

[2]  A. Tornambè,et al.  High-gain observers in the state and estimation of robots having elastic joints , 1989 .

[3]  Xiaoou Li,et al.  Some new results on system identification with dynamic neural networks , 2001, IEEE Trans. Neural Networks.

[4]  Frank L. Lewis,et al.  Identification of nonlinear dynamical systems using multilayered neural networks , 1996, Autom..

[5]  Petros A. Ioannou,et al.  Robust Adaptive Control , 2012 .

[6]  Alexander S. Poznyak,et al.  Nonlinear adaptive trajectory tracking using dynamic neural networks , 1999, IEEE Trans. Neural Networks.

[7]  M. Corless,et al.  Continuous state feedback guaranteeing uniform ultimate boundedness for uncertain dynamic systems , 1981 .

[8]  Daniel Sbarbaro,et al.  Neural Networks for Nonlinear Internal Model Control , 1991 .

[9]  K S Narendra,et al.  IDENTIFICATION AND CONTROL OF DYNAMIC SYSTEMS USING NEURAL NETWORKS , 1990 .

[10]  Manolis A. Christodoulou,et al.  Adaptive control of unknown plants using dynamical neural networks , 1994, IEEE Trans. Syst. Man Cybern..

[11]  B. Zhang,et al.  A neural-net approach to supervised learning of pole balancing , 1989, Proceedings. IEEE International Symposium on Intelligent Control 1989.

[12]  Frank L. Lewis,et al.  Multilayer neural-net robot controller with guaranteed tracking performance , 1996, IEEE Trans. Neural Networks.

[13]  Alexander S. Poznyak,et al.  Indirect adaptive control via parallel dynamic neural networks , 1999 .

[14]  Kumpati S. Narendra,et al.  Identification and control of dynamical systems using neural networks , 1990, IEEE Trans. Neural Networks.

[15]  Marios M. Polycarpou,et al.  High-order neural network structures for identification of dynamical systems , 1995, IEEE Trans. Neural Networks.

[16]  Simon Haykin,et al.  Neural Networks: A Comprehensive Foundation , 1998 .