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Neural network based direct adaptive control for a class of affine nonlinear systems

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2 Author(s)
Kar, I. ; Dept. of Electr. Eng., Indian Inst. of Technol., Kanpur ; Behera, L.

This paper presents a neural network based direct adaptive control scheme for a class of affine nonlinear systems which are exactly input-output linearizable by nonlinear state feedback. When the system dynamics are completely unknown, the control input comprises two terms. One is an adaptive feedback linearization term and the other one is a sliding mode term. The neural networks weight update laws have been derived to make the closed loop system Lyapunov stable. It is shown that the proposed control action can also be applied to multi-input-multi-output systems with minor modifications. Simulation results are presented to validate the theoretical formulations

Published in:

Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control, 2006 IEEE

Date of Conference:

4-6 Oct. 2006