Neuro-adaptive tracking control algorithms for a class of nonlinear systems

被引：0
|
作者：
Song, YD
机构：
来源：
PROCEEDINGS OF THE 1997 AMERICAN CONTROL CONFERENCE, VOLS 1-6 | 1997年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a neural network (NN) based adaptive control method for a class of nonlinear dynamic systems. Two NN units ape incorporated into control scheme which are shown to be effective in attenuating NN reconstruction error and other lumped system uncertainties. Since the control scheme is based upon the worst case that the NNs might behave, it exhibits a ''fail-safe'' feature, which enhances the reliability of the NN-based control scheme. Stable on-line weights tuning algorithms are derived based on Lyapunov stability theory. The control method is extended to robotic systems.
引用
收藏
页码：664 / 668
页数：5
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