NDLI: On Stability of Nonlinear Observers Based on Neural Networks

Content Provider	IEEE Xplore Digital Library
Author	Abdollahi, F. Talebi, H.A. Patel, R.V.
Copyright Year	2006
Description	Author affiliation: Amirkabir Univ., Tehran (Abdollahi, F.)
Abstract	In this paper, the stability problem of neural network based observers/identifiers for nonlinear systems is revisited when nonlinear-in-parameter neural networks (NLPNN) are employed. The proposed approach is based on decomposing the neural network into two subsystems. The first subsystem (Subsystem 1) consists of the estimation error and output-layer weight error and the second subsystem (Subsystem 2) consists of the hidden-layer weight error. The key to this decomposition is that the hidden-layer weights appear in Subsystem 1, only as an argument of a sigmoidal function and its derivative which are both known to be bounded. This allows us to regard the Subsystem 1 as a linear-in-parameter neural network (LPNN) whose stability proof is more straightforward. Having shown the stability of the first subsystem, the stability of the second subsystem is also shown subsequently without the requirement of having the limiting assumptions of previous work. The bound on estimation error can be made arbitrarily small by proper selection of design parameters. The estimation scheme is then employed to estimate the state of flexible joint manipulators.
Starting Page	4712
Ending Page	4718
File Size	986180
Page Count	7
File Format	PDF
ISBN	0780394909
DOI	10.1109/IJCNN.2006.247125
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-07-16
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Stability Neural networks Nonlinear systems State estimation Observers Nonlinear dynamical systems MIMO Estimation error Parameter estimation Manipulator dynamics
Content Type	Text
Resource Type	Article

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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
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