Control of uncertain systems by feedback linearization with neural networks augmentation. Part I. Controller design
The paper highlights the main steps of adaptive output feedback control for non-affine uncertain systems – both in parameters and dynamics – having a known relative degree. Given a reference model, the objective is to design a controller that forces the measured system output to track the reference...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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National Institute for Aerospace Research “Elie Carafoli” - INCAS
2009-09-01
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| Series: | INCAS Bulletin |
| Online Access: | http://bulletin.incas.ro/files/ioan_ursu_v1no1_full.pdf |
| _version_ | 1818290658398437376 |
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| author | Ioan URSU Adrian TOADER George TECUCEANU |
| author_facet | Ioan URSU Adrian TOADER George TECUCEANU |
| author_sort | Ioan URSU |
| collection | DOAJ |
| description | The paper highlights the main steps of adaptive output feedback control for non-affine uncertain systems – both in parameters and dynamics – having a known relative degree. Given a reference model, the objective is to design a controller that forces the measured system output to track the reference model output with bounded errors. A single hidden layer neural network is used to counteract feedback linearization error. A dynamic observer of tracking error is added. The treatment of control saturation is also sketched. The mathematical model for the longitudinal dynamics of an experimental helicopter is used as framework. |
| first_indexed | 2024-12-13T02:31:40Z |
| format | Article |
| id | doaj.art-bf8452ee50e0466cac3839721bcbed3c |
| institution | Directory Open Access Journal |
| issn | 2066-8201 2247-4528 |
| language | English |
| last_indexed | 2024-12-13T02:31:40Z |
| publishDate | 2009-09-01 |
| publisher | National Institute for Aerospace Research “Elie Carafoli” - INCAS |
| record_format | Article |
| series | INCAS Bulletin |
| spelling | doaj.art-bf8452ee50e0466cac3839721bcbed3c2022-12-22T00:02:30ZengNational Institute for Aerospace Research “Elie Carafoli” - INCASINCAS Bulletin2066-82012247-45282009-09-0111849010.13111/2066-8201.2009.1.1.16Control of uncertain systems by feedback linearization with neural networks augmentation. Part I. Controller designIoan URSUAdrian TOADERGeorge TECUCEANUThe paper highlights the main steps of adaptive output feedback control for non-affine uncertain systems – both in parameters and dynamics – having a known relative degree. Given a reference model, the objective is to design a controller that forces the measured system output to track the reference model output with bounded errors. A single hidden layer neural network is used to counteract feedback linearization error. A dynamic observer of tracking error is added. The treatment of control saturation is also sketched. The mathematical model for the longitudinal dynamics of an experimental helicopter is used as framework.http://bulletin.incas.ro/files/ioan_ursu_v1no1_full.pdf |
| spellingShingle | Ioan URSU Adrian TOADER George TECUCEANU Control of uncertain systems by feedback linearization with neural networks augmentation. Part I. Controller design INCAS Bulletin |
| title | Control of uncertain systems by feedback linearization with neural networks augmentation. Part I. Controller design |
| title_full | Control of uncertain systems by feedback linearization with neural networks augmentation. Part I. Controller design |
| title_fullStr | Control of uncertain systems by feedback linearization with neural networks augmentation. Part I. Controller design |
| title_full_unstemmed | Control of uncertain systems by feedback linearization with neural networks augmentation. Part I. Controller design |
| title_short | Control of uncertain systems by feedback linearization with neural networks augmentation. Part I. Controller design |
| title_sort | control of uncertain systems by feedback linearization with neural networks augmentation part i controller design |
| url | http://bulletin.incas.ro/files/ioan_ursu_v1no1_full.pdf |
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