Variable Neural Direct Adaptive Robust Control of Uncertain Systems
- 22 December 2008
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Automatic Control
- Vol. 53 (11) , 2658-2664
- https://doi.org/10.1109/tac.2008.2007149
Abstract
Direct adaptive robust state and output feedback controllers are proposed for the output tracking control of a class of uncertain systems. The proposed controllers incorporate a variable structure radial basis function (RBF) network to approximate unknown system dynamics, where the RBF network can determine its structure online dynamically. Radial basis functions can be added or removed to ensure the desired tracking accuracy and to prevent the network redundancy simultaneously. The closed-loop systems driven by the direct adaptive robust controllers are characterized by the guaranteed transient and steady-state tracking performance. The performance of the proposed output feedback controller is illustrated with numerical simulations.Keywords
This publication has 14 references indexed in Scilit:
- Self-Organizing Radial Basis Function Network for Real-Time Approximation of Continuous-Time Dynamical SystemsIEEE Transactions on Neural Networks, 2008
- Variable neural adaptive robust controllers for uncertain systemsInternational Journal of Adaptive Control and Signal Processing, 2007
- Integrated direct/indirect adaptive robust control of SISO nonlinear systems in semi-strict feedback formPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2004
- Approximation of nonlinear systems with radial basis function neural networksIEEE Transactions on Neural Networks, 2001
- Adaptive output feedback control of nonlinear systems represented by input-output modelsIEEE Transactions on Automatic Control, 1996
- Asymptotic regulation of minimum phase nonlinear systems using output feedbackIEEE Transactions on Automatic Control, 1996
- Feedback linearization using neural networksAutomatica, 1995
- Adaptively controlling nonlinear continuous-time systems using multilayer neural networksIEEE Transactions on Automatic Control, 1994
- Stable adaptive fuzzy control of nonlinear systemsIEEE Transactions on Fuzzy Systems, 1993
- Output feedback stabilization of fully linearizable systemsInternational Journal of Control, 1992