Smoothing the control action for NARMA-L2 controllers

Author

Pukrittayakamee, Arjpolson ; De Jesús, Orlando ; Hagan, Martin T.

Author_Institution

Sch. of Electr. & Comput. Eng., Oklahoma State Univ., Stillwater, OK, USA

Volume

3

fYear

2002

fDate

4-7 Aug. 2002

Abstract

There have been many approaches to the use of neural networks in control systems, such as the NARMA-L2 Controller, introduced by Narendra and Mukhopadhyay [1997]. One disadvantage of this controller is that it often produces chattering in the control action. In this paper we investigate the addition of linear feedback to the NARMA-L2 controller in order to smooth the control action. We show that under certain circumstances this linear feedback can cause problems of stability and increased steady state errors, especially when the plant model is inaccurate. These problems can be reduced significantly by the use of appropriate design strategies, which are presented in this paper.

Keywords

control system synthesis; feedback; neurocontrollers; stability; NARMA-L2 controllers; chattering; design strategies; linear feedback; neural networks; plant model; stability; steady state errors; Computer networks; Control systems; Electromagnets; Linear feedback control systems; Magnetic levitation; Neural networks; Neurofeedback; Nonlinear control systems; Smoothing methods; Steady-state;

fLanguage

English

Publisher

ieee

Conference_Titel

Circuits and Systems, 2002. MWSCAS-2002. The 2002 45th Midwest Symposium on

Print_ISBN

0-7803-7523-8

Type

conf

DOI

10.1109/MWSCAS.2002.1186964

Filename

1186964