Direct Adaptive Neural Control Scheme for Discrete Time Affine Nonlinear Systems

Author

Kar, Indrani ; Behera, Laxmidhar

Author_Institution

Dept. of Electr. Eng., Indian Inst. of Technol., Kanpur

fYear

2008

fDate

3-5 Sept. 2008

Firstpage

1097

Lastpage

1102

Abstract

A feedback linearization based direct adaptive neural control scheme is proposed for a class of affine nonlinear discrete time systems. Two radial basis function networks are used to approximate the unknown system dynamics. The weight update laws for the networks are derived to make the closed loop error dynamics Lyapunov stable. The proposed control scheme removes the need for any projection algorithm or additional control action presented in the literature. Simulation results are presented to demonstrate the theoretical formulations.

Keywords

Lyapunov methods; adaptive control; closed loop systems; discrete time systems; feedback; neurocontrollers; nonlinear control systems; radial basis function networks; stability; Lyapunov stability; adaptive neural control; closed loop error dynamics; discrete time affine nonlinear systems; feedback linearization; radial basis function networks; Adaptive control; Control systems; Discrete time systems; Linear feedback control systems; Neurofeedback; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear systems; Programmable control; Radial basis function networks; Affine Systems; Direct Adaptive Control; Feedback Linearization; Radial Basis Function Networks;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control, 2008. ISIC 2008. IEEE International Symposium on

Conference_Location

San Antonio, TX

ISSN

2158-9860

Print_ISBN

978-1-4244-2224-1

Electronic_ISBN

2158-9860

Type

conf

DOI

10.1109/ISIC.2008.4635966

Filename

4635966