Title :
H∞ tracking of unknown nonlinear systems using neural network
Author :
Qingguo, Li ; Shaocheng, Tong ; Tianyou, Chai
Author_Institution :
Res. Center of Autom., Northeastern Univ., Liaoning, China
Abstract :
A stable neural adaptive control scheme, is proposed to achieve H ∞ performance for a class of unknown nonlinear SISO systems with external disturbances. In the control design, the controller comprises a certainty equivalence control term and an H∞ compensating term. The neural network is used to approximate the unknown nonlinear functions for the design of the equivalence controller, and the Lyapunov method is used for the update of the parameters of the neural network, the stability of the proposed control algorithm can be guaranteed. The performance of the proposed method is demonstrated through the control of the inverted pendulum system
Keywords :
H∞ control; Lyapunov methods; adaptive control; compensation; control system synthesis; function approximation; neurocontrollers; nonlinear control systems; stability; tracking; uncertain systems; H∞ compensating term; H∞ performance; H∞ tracking; Lyapunov method; certainty equivalence control term; control design; external disturbances; inverted pendulum system; stable neural adaptive control scheme; unknown nonlinear SISO systems; Adaptive control; Attenuation; Control design; Control systems; Error correction; H infinity control; Neural networks; Nonlinear systems; Robust control; Uncertainty;
Conference_Titel :
Intelligent Control, 1997. Proceedings of the 1997 IEEE International Symposium on
Conference_Location :
Istanbul
Print_ISBN :
0-7803-4116-3
DOI :
10.1109/ISIC.1997.626452
