Abstract
In this paper, an improved switching mechanism based on quasi-linear auto regressive exogenous (quasi-ARX) neural network (QARXNN) is presented for the adaptive control of nonlinear systems. The proposed switching control is composed of a QARXNN-based prediction model and an improved switching mechanism using two new adaptive control laws, first is moving average filter law and second is new switching law. Since the control result of nonlinear predictor is better than the linear predictor in most of the time, the adaptive control with a simple switching mechanism has many useless switching during the processing. Hence, the improved smooth switching mechanism is proposed to replace the original switching mechanism; it can improve the performance by reducing the useless switching while guaranteeing stability of the system control. The simulations show that the efficiency of the proposed control method is satisfied in stability, improve control accuracy and robustness.
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This work was presented in part at the 19th International Symposium on Artificial Life and Robotics, Beppu, Oita, January 22–24, 2014.
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Sutrisno, I., Che, C. & Hu, J. An improved adaptive switching control based on quasi-ARX neural network for nonlinear systems. Artif Life Robotics 19, 347–353 (2014). https://doi.org/10.1007/s10015-014-0173-x
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DOI: https://doi.org/10.1007/s10015-014-0173-x