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Adaptively controlling nonlinear continuous-time systems using multilayer neural networks

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2 Author(s)
Fu-Chuang Chen ; Dept. of Control Eng., Nat. Chiao Tung Univ., Hsinchu, Taiwan ; Chen-Chung Liu

Multilayer neural networks are used in a nonlinear adaptive control problem. The plant is an unknown feedback-linearizable continuous-time system. The control law is defined in terms of the neural network models of system nonlinearities to control the plant to track a reference command. The network parameters are updated online according to a gradient learning rule with dead zone. A local convergence result is provided, which says that if the initial parameter errors are small enough, then the tracking error will converge to a bounded area. Simulations are designed to demonstrate various aspects of theoretical results

Published in:

IEEE Transactions on Automatic Control  (Volume:39 ,  Issue: 6 )