NDLI: Stable adaptive control and recursive identification using radial Gaussian networks

Content Provider	IEEE Xplore Digital Library
Author	Sanner, R.M. Slotine, J.-J.E.
Copyright Year	1991
Description	Author affiliation: Nonlinear Syst. Lab., MIT, Cambridge, MA, USA (Sanner, R.M.; Slotine, J.-J.E.)
Abstract	Previous work has provided the theoretical foundations of a constructive design procedure for uniform approximation of smooth functions to a chosen degree of accuracy using networks of Gaussian radial basis functions. This construction and the guaranteed uniform bounds were shown to provide the basis for stable adaptive neurocontrol algorithms for a class of nonlinear plants. The authors detail and extend these ideas in three directions. First, some practical details of the construction are provided, explicitly illustrating the relation between the free parameters in the network design and the degree of approximation error on a particular set. Next, the original adaptive control algorithm is modified to permit incorporation of additional prior knowledge of the system dynamics, allowing the neurocontroller to operate in parallel with conventional fixed or adaptive controllers. Finally, it is shown how the Gaussian network construction may also be utilized in recursive identification algorithms with similar guarantees of stability and convergence.<>
Starting Page	2116
Ending Page	2123
File Size	875569
Page Count	8
File Format	PDF
ISBN	0780304500
DOI	10.1109/CDC.1991.261511
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1991-12-11
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Adaptive control Nonlinear systems Programmable control Neural networks Laboratories Error correction Neurocontrollers Stability Convergence Approximation error
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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