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This paper presents a method of continuous-time simple adaptive control (SAC) using multiple neural networks for a single-input single-output (SISO) nonlinear systems with unknown parameters and dynamics, bounded-input bounded- output, and bounded nonlinearities. The control input is given by the sum of the output of the simple adaptive controller and the sum of the outputs of the parallel small-scale neural networks. The parallel small-scale neural networks are used to compensate the nonlinearity of plant dynamics that is not taken into consideration in the usual SAC. The role of the parallel small- scale neural networks is to construct a linearized model by minimizing the output error caused by nonlinearities in the control systems. Finally, the stability analysis of the proposed method is carried out, and the effectiveness of this method is confirmed through computer simulations.
SICE, 2007 Annual Conference
Date of Conference: 17-20 Sept. 2007