Title :
A decentralized learning controller for nonlinear systems
Author :
Yeh, Zong-Mu ; Hsu, How-Gao ; Lien, Ching-Chieh
Author_Institution :
Inst. of Ind. Educ. & Technol., Nat. Taiwan Normal Univ., Taipei, Taiwan
Abstract :
This paper presents a decentralized learning controller for large-scale nonlinear systems. A new learning method which is based on a performance index of sliding mode control is used to derive an iterative learning algorithm to obtain control actions. The effectiveness and the performance of the proposed approach are illustrated by the simulation results of a two-inverted pendulum system and a two-link manipulator. The attractive features also include a smaller residual error and robustness against nonlinear interactions
Keywords :
decentralised control; large-scale systems; learning systems; nonlinear control systems; performance index; robust control; variable structure systems; decentralized learning controller; iterative learning algorithm; large-scale nonlinear systems; nonlinear interaction robustness; performance index; residual error; sliding mode control; two-inverted pendulum system; two-link manipulator; Control systems; Iterative algorithms; Iterative methods; Large-scale systems; Learning systems; Nonlinear control systems; Nonlinear systems; Performance analysis; Robustness; Sliding mode control;
Conference_Titel :
Industrial Technology, 1994., Proceedings of the IEEE International Conference on
Conference_Location :
Guangzhou
Print_ISBN :
0-7803-1978-8
DOI :
10.1109/ICIT.1994.467190
