Title :
A direct approach to adaptive controller design and its application to inverted pendulum tracking
Author :
Ge, S.S. ; Hang, C.C. ; Zhang, T.
Author_Institution :
Dept. of Electr. Eng., Nat. Univ. of Singapore, Singapore
Abstract :
Considers the direct adaptive control of a class nonlinear systems using multilayer neural networks (MNNs). The proposed method avoids the possible singularity problem of the controller usually met in adaptive controller design. Combining with sliding mode control strategy, the proposed controller guarantees the global stability of the closed-loop system and the tracking error converging to zero asymptotically. The controller is applied to an inverted pendulum control to show its effectiveness
Keywords :
adaptive control; closed loop systems; multilayer perceptrons; neurocontrollers; nonlinear control systems; position control; variable structure systems; adaptive controller design; direct adaptive control; direct approach; global stability; inverted pendulum tracking; multilayer neural networks; sliding mode control strategy; Adaptive control; Control systems; Fuzzy systems; Linear feedback control systems; Multi-layer neural network; Neural networks; Nonlinear control systems; Nonlinear systems; Programmable control; Sliding mode control;
Conference_Titel :
American Control Conference, 1998. Proceedings of the 1998
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-7803-4530-4
DOI :
10.1109/ACC.1998.703568
