Neural feedback linearization adaptive control for affine nonlinear systems based on neural network estimator
In this work, we introduce an adaptive neural network controller for a class of nonlinear systems. The approach uses two Radial Basis Functions, RBF networks. The first RBF network is used to approximate the ideal control law which cannot be implemented since the dynamics of the system are...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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Faculty of Technical Sciences in Cacak
2011-01-01
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| Series: | Serbian Journal of Electrical Engineering |
| Subjects: | |
| Online Access: | http://www.doiserbia.nb.rs/img/doi/1451-4869/2011/1451-48691103307B.pdf |
| _version_ | 1818266589324115968 |
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| author | Bahita Mohamed Belarbi Khaled |
| author_facet | Bahita Mohamed Belarbi Khaled |
| author_sort | Bahita Mohamed |
| collection | DOAJ |
| description | In this work, we introduce an adaptive neural network controller for a class
of nonlinear systems. The approach uses two Radial Basis Functions, RBF
networks. The first RBF network is used to approximate the ideal control law
which cannot be implemented since the dynamics of the system are unknown. The
second RBF network is used for on-line estimating the control gain which is a
nonlinear and unknown function of the states. The updating laws for the
combined estimator and controller are derived through Lyapunov analysis.
Asymptotic stability is established with the tracking errors converging to a
neighborhood of the origin. Finally, the proposed method is applied to
control and stabilize the inverted pendulum system. |
| first_indexed | 2024-12-12T20:09:06Z |
| format | Article |
| id | doaj.art-088c8fe5d01b4efc94e63357282c8c6f |
| institution | Directory Open Access Journal |
| issn | 1451-4869 2217-7183 |
| language | English |
| last_indexed | 2024-12-12T20:09:06Z |
| publishDate | 2011-01-01 |
| publisher | Faculty of Technical Sciences in Cacak |
| record_format | Article |
| series | Serbian Journal of Electrical Engineering |
| spelling | doaj.art-088c8fe5d01b4efc94e63357282c8c6f2022-12-22T00:13:33ZengFaculty of Technical Sciences in CacakSerbian Journal of Electrical Engineering1451-48692217-71832011-01-018330732310.2298/SJEE1103307B1451-48691103307BNeural feedback linearization adaptive control for affine nonlinear systems based on neural network estimatorBahita Mohamed0Belarbi Khaled1Faculty of Hydrocarbons and Chemistry (FHC), University of Boumerdes, Boumerdes, AlgeriaFaculty of Engineering, University of Constantine, Constantine, AlgeriaIn this work, we introduce an adaptive neural network controller for a class of nonlinear systems. The approach uses two Radial Basis Functions, RBF networks. The first RBF network is used to approximate the ideal control law which cannot be implemented since the dynamics of the system are unknown. The second RBF network is used for on-line estimating the control gain which is a nonlinear and unknown function of the states. The updating laws for the combined estimator and controller are derived through Lyapunov analysis. Asymptotic stability is established with the tracking errors converging to a neighborhood of the origin. Finally, the proposed method is applied to control and stabilize the inverted pendulum system.http://www.doiserbia.nb.rs/img/doi/1451-4869/2011/1451-48691103307B.pdfadaptive controlcontrol gain estimationfeedback linearizationradial basis function network |
| spellingShingle | Bahita Mohamed Belarbi Khaled Neural feedback linearization adaptive control for affine nonlinear systems based on neural network estimator Serbian Journal of Electrical Engineering adaptive control control gain estimation feedback linearization radial basis function network |
| title | Neural feedback linearization adaptive control for affine nonlinear systems based on neural network estimator |
| title_full | Neural feedback linearization adaptive control for affine nonlinear systems based on neural network estimator |
| title_fullStr | Neural feedback linearization adaptive control for affine nonlinear systems based on neural network estimator |
| title_full_unstemmed | Neural feedback linearization adaptive control for affine nonlinear systems based on neural network estimator |
| title_short | Neural feedback linearization adaptive control for affine nonlinear systems based on neural network estimator |
| title_sort | neural feedback linearization adaptive control for affine nonlinear systems based on neural network estimator |
| topic | adaptive control control gain estimation feedback linearization radial basis function network |
| url | http://www.doiserbia.nb.rs/img/doi/1451-4869/2011/1451-48691103307B.pdf |
| work_keys_str_mv | AT bahitamohamed neuralfeedbacklinearizationadaptivecontrolforaffinenonlinearsystemsbasedonneuralnetworkestimator AT belarbikhaled neuralfeedbacklinearizationadaptivecontrolforaffinenonlinearsystemsbasedonneuralnetworkestimator |