TY - GEN
T1 - Trajectory tracking based on differential neural networks for a class of nonlinear systems
AU - Pérez-Cruz, J. Humberto
AU - Poznyak, Alexander
PY - 2009
Y1 - 2009
N2 - A very successful scheme to accomplish trajectory tracking of unknown nonlinear systems consists of identifying the unknown dynamics using differential neural networks and on the basis of the so obtained mathematical model to develop an appropriate control law. The purpose of this paper is to present some new results in this sense. In particular, for the neural identifier, a new online learning law which permits to guarantee the boundedness for both the weights and the identification error without using a dead zone function is showed. Likewise, based on this neural identifier, a new control law to guarantee the boundedness of the tracking error is developed. These results are proved using a Lyapunov like analysis. With respect to the approach based on the local optimal control theory, the new approach has a similar performance but its main advantage consists of simplifying considerably the design process. The workability of the suggested approach is illustrated by simulation.
AB - A very successful scheme to accomplish trajectory tracking of unknown nonlinear systems consists of identifying the unknown dynamics using differential neural networks and on the basis of the so obtained mathematical model to develop an appropriate control law. The purpose of this paper is to present some new results in this sense. In particular, for the neural identifier, a new online learning law which permits to guarantee the boundedness for both the weights and the identification error without using a dead zone function is showed. Likewise, based on this neural identifier, a new control law to guarantee the boundedness of the tracking error is developed. These results are proved using a Lyapunov like analysis. With respect to the approach based on the local optimal control theory, the new approach has a similar performance but its main advantage consists of simplifying considerably the design process. The workability of the suggested approach is illustrated by simulation.
UR - http://www.scopus.com/inward/record.url?scp=70449638090&partnerID=8YFLogxK
U2 - 10.1109/ACC.2009.5160014
DO - 10.1109/ACC.2009.5160014
M3 - Contribución a la conferencia
AN - SCOPUS:70449638090
SN - 9781424445240
T3 - Proceedings of the American Control Conference
SP - 2940
EP - 2945
BT - 2009 American Control Conference, ACC 2009
T2 - 2009 American Control Conference, ACC 2009
Y2 - 10 June 2009 through 12 June 2009
ER -