NDLI: Trajectory tracking based on differential neural networks for a class of nonlinear systems

Content Provider	IEEE Xplore Digital Library
Author	Perez-Cruz, J.H. Poznyak, A.
Copyright Year	2009
Description	Author affiliation: Department of Automatic Control, CINVESTAV-IPN, AP. 14740, Av. Instituto Politécnico Nacional No. 2508, C.P. 07360, México D.F., México (Perez-Cruz, J.H.; Poznyak, A.)
Abstract	A very successful scheme to accomplish trajectory tracking of unknown nonlinear systems consists of identifying the unknown dynamics using differential neural networks and on the basis of the so obtained mathematical model to develop an appropriate control law. The purpose of this paper is to present some new results in this sense. In particular, for the neural identifier, a new online learning law which permits to guarantee the boundedness for both the weights and the identification error without using a dead zone function is showed. Likewise, based on this neural identifier, a new control law to guarantee the boundedness of the tracking error is developed. These results are proved using a Lyapunov like analysis. With respect to the approach based on the local optimal control theory, the new approach has a similar performance but its main advantage consists of simplifying considerably the design process. The workability of the suggested approach is illustrated by simulation.
Starting Page	2940
Ending Page	2945
File Size	488549
Page Count	6
File Format	PDF
ISBN	9781424445233
ISSN	07431619
DOI	10.1109/ACC.2009.5160014
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-06-10
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Trajectory Neural networks Nonlinear systems Riccati equations Automatic control Function approximation Nonlinear control systems Mathematical model Optimal control Artificial neural networks
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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