TY - JOUR
T1 - Adaptive Neural Network Control for the Trajectory Tracking of the Furuta Pendulum
AU - Moreno-Valenzuela, Javier
AU - Aguilar-Avelar, Carlos
AU - Puga-Guzmán, Sergio A.
AU - Santibáñez, Víctor
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/12
Y1 - 2016/12
N2 - The purpose of this paper is to introduce a novel adaptive neural network-based control scheme for the Furuta pendulum, which is a two degree-of-freedom underactuated system. Adaptation laws for the input and output weights are also provided. The proposed controller is able to guarantee tracking of a reference signal for the arm while the pendulum remains in the upright position. The key aspect of the derivation of the controller is the definition of an output function that depends on the position and velocity errors. The internal and external dynamics are rigorously analyzed, thereby proving the uniform ultimate boundedness of the error trajectories. By using real-time experiments, the new scheme is compared with other control methodologies, therein demonstrating the improved performance of the proposed adaptive algorithm.
AB - The purpose of this paper is to introduce a novel adaptive neural network-based control scheme for the Furuta pendulum, which is a two degree-of-freedom underactuated system. Adaptation laws for the input and output weights are also provided. The proposed controller is able to guarantee tracking of a reference signal for the arm while the pendulum remains in the upright position. The key aspect of the derivation of the controller is the definition of an output function that depends on the position and velocity errors. The internal and external dynamics are rigorously analyzed, thereby proving the uniform ultimate boundedness of the error trajectories. By using real-time experiments, the new scheme is compared with other control methodologies, therein demonstrating the improved performance of the proposed adaptive algorithm.
KW - Furuta pendulum
KW - neural network control
KW - real-time experiments
KW - underactuated systems
KW - uniformly ultimately bounded (UUB) signal
UR - http://www.scopus.com/inward/record.url?scp=84954145738&partnerID=8YFLogxK
U2 - 10.1109/TCYB.2015.2509863
DO - 10.1109/TCYB.2015.2509863
M3 - Artículo
C2 - 28113230
SN - 2168-2267
VL - 46
SP - 3439
EP - 3452
JO - IEEE Transactions on Cybernetics
JF - IEEE Transactions on Cybernetics
IS - 12
M1 - 7378936
ER -