Title :
Output regulation of nonlinear uncertain system with nonminimum phase via enhanced RBFN controller
Author :
Chen, Shing-Chia ; Chen, Wen-Liang
Author_Institution :
Dept. of Power Mech. Eng., Nat. Tsing-Hua Univ., Hsinchu, Taiwan
fDate :
3/1/2003 12:00:00 AM
Abstract :
Presents an enhanced direct adaptive scheme for a radial basis function network (RBFN) based controller capable of online stably adjusting both the RBFN´s output weights and variance parameters in the hidden nodes. The improved RBFN system is employed to online reconstruct the ideal control law adaptively and force the plant output to asymptotically track the output of a reference model, which is predetermined to stabilize robustly the unstable internal dynamics of a nonlinear uncertain system with nonminimum phase. A case study is utilized for demonstrating the effectiveness of the proposed scheme. Simulation results indicate that the transient responses of balancing the inverted pendulum system are markedly improved by using the enhanced algorithm proposed herein.
Keywords :
adaptive control; neurocontrollers; nonlinear control systems; pendulums; radial basis function networks; robust control; transient response; uncertain systems; asymptotic tracking; balancing; enhanced RBFN controller; enhanced direct adaptive scheme; ideal control law; inverted pendulum system; nonlinear uncertain system; nonminimum phase system; output regulation; output weights adjustment; radial basis function network based controller; robust stabilization; transient responses; unstable internal dynamics; variance parameters adjustment; Adaptive control; Control systems; Fuzzy control; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear systems; Programmable control; Radial basis function networks; Robust control; Uncertain systems;
Journal_Title :
Systems, Man and Cybernetics, Part A: Systems and Humans, IEEE Transactions on
DOI :
10.1109/TSMCA.2003.810907
