A neural gain scheduling network controller for nonholonomic systems

We propose a neural gain scheduling network controller (NGSNC) to improve the gain scheduling controller for nonholonomic systems. We derive the neural networks that can approximate the gain scheduling controller arbitrarily well when the sampling frequency satisfies the sampling theorem. We also show that the NGSNC is independent of the sampling time. The proposed NGSNC has the following important properties: 1) same performance as the continuous-parameter gain scheduling controller; 2) less computing time than the continuous-parameter gain scheduling controller; 3) good robustness against the sampling intervals; and 4) straightforward stability analysis. We then show that some of nonholonomic systems can be converted to equivalent linear parameter-varying systems. As a result, the NGSNC can stabilize nonholonomic systems