Adaptive control for uncertain nonlinear systems based on multiple neural networks

IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics : a Publication of the IEEE Systems, Man, and Cybernetics Society
Choon-Young Lee, Ju-Jang Lee

Abstract

A new adaptive multiple neural network controller (AMNNC) with a supervisory controller for a class of uncertain nonlinear dynamic systems was developed in this paper. The AMNNC is a kind of adaptive feedback linearizing controller where nonlinearity terms are approximated with multiple neural networks. The weighted sum of the multiple neural networks was used to approximate system nonlinearity for the given task. Each neural network represents the system dynamics for each task. For a job where some tasks are repeated but information on the load is not defined and unknown or varying, the proposed controller is effective because of its capability to memorize control skill for each task with each neural network. For a new task, most similar existing control skills may be used as a starting point of adaptation. With the help of a supervisory controller, the resulting closed-loop system is globally stable in the sense that all signals involved are uniformly bounded. Simulation results on a cartpole system for the changing mass of the pole were illustrated to show the effectiveness of the proposed control scheme for the comparison with the conventional adaptive neural network controller (ANNC).

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Citations

Dec 23, 2014·IEEE Transactions on Neural Networks and Learning Systems·Kasra EsfandiariHeidar Ali Talebi
Mar 20, 2010·IEEE Transactions on Neural Networks·Mou ChenBernard Voon Ee How
Apr 2, 2009·IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics : a Publication of the IEEE Systems, Man, and Cybernetics Society·Artemis K Kostarigka, George A Rovithakis
Oct 14, 2006·IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics : a Publication of the IEEE Systems, Man, and Cybernetics Society·Asier Ibeas, Manuel de la Sen
Dec 22, 2005·IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics : a Publication of the IEEE Systems, Man, and Cybernetics Society·Yeong-Chan Chang
Aug 19, 2015·IEEE Transactions on Neural Networks and Learning Systems·Yanjun ZhangMou Chen

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