Title :
Stable adaptive neural network control of MIMO nonaffine nonlinear discrete-time systems
Author :
Zhai, Lianfei ; Chai, Tianyou ; Yang, Chenguang ; Ge, Shuzhi Sam ; Lee, Tong Heng
Author_Institution :
Res. Center of Autom., Northeastern Univ., Shenyang, China
Abstract :
In this paper, stable adaptive neural network (NN) control, a combination of weighted one-step-ahead control and adaptive NN is developed for a class of multi-input-multi-output (MIMO) nonaffine nonlinear discrete-time systems. The weighted one-step-ahead control is designed to stabilize the nominal linear system, while the adaptive NN compensator is introduced to deal with the nonlinearities. Under the assumption that the inverse control gain matrix has an either positive definite or negative definite symmetric part, the obstacle in NN weights tuning for the MIMO systems is transformed to unknown control direction problem for single-input-single-output (SISO) system. Discrete Nussbaum gain is introduced into the NN weights adaptation law to overcome the unknown control direction problem. It is proved that all signals of the closed-loop system are bounded, while the tracking error converges to a compact set. Simulation result illustrates the effectiveness of the proposed control.
Keywords :
MIMO systems; adaptive control; closed loop systems; control system synthesis; discrete time systems; neurocontrollers; nonlinear control systems; stability; MIMO nonaffine nonlinear discrete-time systems; adaptive neural network control stability; closed-loop system; controller design; discrete Nussbaum gain; inverse control gain matrix; multi-input-multi-output nonaffine nonlinear discrete-time systems; nominal linear system; single-input-single-output system; weighted one-step-ahead control; Adaptive control; Adaptive systems; Control nonlinearities; Control systems; Linear systems; MIMO; Neural networks; Nonlinear control systems; Programmable control; Weight control;
Conference_Titel :
Decision and Control, 2008. CDC 2008. 47th IEEE Conference on
Conference_Location :
Cancun
Print_ISBN :
978-1-4244-3123-6
Electronic_ISBN :
0191-2216
DOI :
10.1109/CDC.2008.4738830