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Direct Adaptive Control for a Class of Uncertain Nonlinear Systems Using Neural Networks

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Advances in Natural Computation (ICNC 2005)

Part of the book series: Lecture Notes in Computer Science ((LNTCS,volume 3611))

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Abstract

This paper presents a direct adaptive control scheme based on multi-layer neural networks for a class of single-input-single-output (SISO) uncertain nonlinear systems. The on-line updating rules of the neural networks parameters are obtained by Lyapunov stability theory. All signals in the closed-loop system are bounded and the output tracking error converges to a small neighborhood of zero. In this sense the stability of the closed-loop system is guaranteed. The effectiveness of the control scheme is verified by a simulation of inverted pendulum.

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Author information

Authors and Affiliations

  1. State Key Lab of Intelligent Technology and Systems, Department of Computer Science and Technology, Tsinghua University, Beijing, 100084, China

    Tingliang Hu, Jihong Zhu, Chunhua Hu & Zengqi Sun

Authors
  1. Tingliang Hu
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  2. Jihong Zhu
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  3. Chunhua Hu
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  4. Zengqi Sun
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Editor information

Editors and Affiliations

  1. School of Electrical and Electronic Engineering, Nanyang Technological University, Block S1, Nanyang Avenue, 639798, Singapore

    Lipo Wang

  2. School of Software, Sun Yat-Sen University, 510275, Guangzhou, China

    Ke Chen

  3. School of Computer Engineering, Nanyang Technological University, BLK N4, 2b-39, Nanyang Avenue, 639798, Singapore

    Yew Soon Ong

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© 2005 Springer-Verlag Berlin Heidelberg

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Hu, T., Zhu, J., Hu, C., Sun, Z. (2005). Direct Adaptive Control for a Class of Uncertain Nonlinear Systems Using Neural Networks. In: Wang, L., Chen, K., Ong, Y.S. (eds) Advances in Natural Computation. ICNC 2005. Lecture Notes in Computer Science, vol 3611. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11539117_35

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  • DOI: https://doi.org/10.1007/11539117_35

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-28325-6

  • Online ISBN: 978-3-540-31858-3

  • eBook Packages: Computer ScienceComputer Science (R0)

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