Title :
Stability analysis for a two-time-scale neural tracking controller
Author :
Cheng, W. ; Wen, J.T.
Author_Institution :
NASA Center for Intelligent Robotics Syst. for Space Exploration, Rensselaer Polytech. Inst., Troy, NY, USA
Abstract :
The stability of a two-time scale neural tracking controller is analyzed using Lyapunov stability theory. The results show that the tracking error of the system is uniformly bounded and converges to a bounded region if the two-time-scale neural tracking controller is used. Moreover, the region depends only on the accuracy of the slow learning rule is a switching leakage term is used in the fast learning rule
Keywords :
Lyapunov methods; discrete time systems; neural nets; stability; Lyapunov stability theory; bounded error; controller analysis; error convergence; fast learning rule; slow learning rule; switching leakage term; tracking error; two-time-scale neural tracking controller; Control systems; Intelligent robots; Intelligent systems; NASA; Neural networks; Nonlinear control systems; Nonlinear systems; Orbital robotics; Space exploration; Stability analysis;
Conference_Titel :
Intelligent Control, 1991., Proceedings of the 1991 IEEE International Symposium on
Conference_Location :
Arlington, VA
Print_ISBN :
0-7803-0106-4
DOI :
10.1109/ISIC.1991.187351
