Abstract
A comparative study of various control systems using neural networks is done. The paper proposes to use a Recurrent Trainable Neural Network (RTNN) identifier with backpropagation method of learning. Two methods of adaptive neural control with integral plus state action are applied - an indirect and a direct trajectory tracking control. The first one is the indirect Sliding Mode Control (SMC) with I-term where the SMC is resolved using states and parameters identified by RTNN. The second one is the direct adaptive control with I-term where the adaptive control is resolved by a RTNN controller. The good tracking abilities of both methods are confirmed by simulation results obtained using a MIMO mechanical plant and a 1-DOF mechanical system with friction plant model. The results show that both control schemes could compensate constant offsets and that - without I- term did not.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Miller III, W.T., Sutton, R.S., Werbos, P.J.: Neural Networks for Control, MIT Press, London (1992).
Hunt, K.J., Sbarbaro, D., Zbikowski, R., Gawthrop, P.J.: Neural Networks for Control Systems, A Survey. Automatica, 28 (1992) 1083–1112.
Narendra, K.S., Parthasarathy, K.: Identification and Control of Dynamic Systems Using Neural Networks. IEEE Trans. Neural Networks, 1 (1990) 4–27.
Chen, S., Billings, S. A.: Neural Networks for Nonlinear Dynamics System Modeling and Identification. International Journal of Control, 56 (1992)319–346.
Pao, S.A., Phillips, S.M., Sobajic, D.J.: Neural-Net Computing and Intelligent Control Systems. International Journal of Control, 56 (1992) 263–289.
Jin, L., Gupta, M.: Stable Dynamic Backpropagation Learning in Recurrent Neural Networks. IEEE Transactions on Neural Networks, 10 (1999) 1321–1334.
Baruch, I.S., Stoyanov, I.P., Gortcheva, E.: Topology and Learning of a Class RNN. ELEKTRIK, Supplement, 4 (1996) 35–42.
Nava, F., Baruch, I.S., Poznyak, A.S., Nenkova, B.: Stability Proofs of Advanced Recurrent Neural Networks Topology and Learning. Comptes Rendus (Proceedings of the Bulgarian Academy of Sciences), ISSN 0861–1459, 57 (2004) 27–32.
Sontag, E. Sussmann, H.: Complete Controllability of Continuous Time Recurrent Neural Network. System and Control Letters, 30 (1997) 177–183.
Albertini, F., Sontag, E.: State Observability in Recurrent Neural Networks. System and Control Letters, 22 (1994) 235–244.
Wan, E., Beaufays, F.: Diagrammatic Method for Deriving and Relating Temporal Neural Networks Algorithms. Neural Computations, 8 (1996) 182–201.
Baruch, I.S., Flores, J.M., Nava, F., Ramirez, I.R., Nenkova, B.: An Advanced Neural Network Topology and Learning, Applied for Identification and Control of a D.C. Motor. In: Proc. 1-st. Int. IEEE Symp. Intelligent Systems, Varna, Bulgaria, Sept. (2002) 289–295.
Utkin, V.I.: Sliding Mode in Control and Optimization. Springer-Verlag, Berlin (1992).
Utkin, V.I.: Sliding Mode Control in Dynamic Systems. In: Proc. of the 32-nd Conference on Decision and Control, San Antonio, Texas, Dec. (1993) 2446–2451.
Utkin, V.I.: Adaptive Discrete-Time Sliding Mode Control of Infinite-Dimensional Systems. In: Proc. of the 37-th Conference on Decision and Control, Tampa, Florida, Dec. (1998) 4033–4038.
Young, K.D., Utkin, V.I., Ozguner, U.: A Control Engineer's Guide to Sliding Mode Control. IEEE Trans. on Control Systems Technology, 7 (1999) 328–342.
Baruch, I.S., Hernandez, L.A., Barrera-Cortes, J.: Adaptive Discrete-Time Sliding Mode Control Using Recurrent Neural Networks. In: Proc. of the 2-nd IFAC Symposium on System, Structure and Control, Oaxaca, Mexico, Dec. 8–10, (2004) file [SSSC112.pdf].
Baruch, I.S., Martinez, A.C., Garrido, R.: An Adaptive Neural Dynamics Compensator with Integral-Plus-State Action. In: Proc. of the 23-th Int. Conf. on Artificial Neural Networks and 10-th Int. Conf. on Neural Information Processing, ICANN/ICONIP, Istambul, Turkey, June 26–29, (2003) 320–323.
Narendra, K., Mukhopadhyay, S.: Adaptive Control of Nonlinear Multivariable Systems Using Neural Networks. Neural Networks, 7 (1994) 737–752.
Lee, S.W., Kim, J.H.: Robust Adaptive Stick-Slip Friction Compensation. IEEE Trans. Ind. Electronics, 42 (1995) 474–479.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2007 Springer
About this chapter
Cite this chapter
Baruch, I. (2007). Direct and Indirect Adaptive Neural Control of Nonlinear Systems. In: Castillo, O., Melin, P., Kacprzyk, J., Pedrycz, W. (eds) Hybrid Intelligent Systems. Studies in Fuzziness and Soft Computing, vol 208. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-37421-3_6
Download citation
DOI: https://doi.org/10.1007/978-3-540-37421-3_6
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-37419-0
Online ISBN: 978-3-540-37421-3
eBook Packages: EngineeringEngineering (R0)