Neural adaptive control of non-linear plants via a multiple inverse model approach

International Journal of Adaptive Control and Signal Processing

Volumn 13, Issue 4, 1999, Pages 219-239

  Zufiria, Pedro J ^a   Fraile Ardanuy, Jesús ^a,b   Riaza, Ricardo ^a   Alonso, Juan I ^a,c  

^a UNIVERSIDAD POLITÉCNICA DE MADRID   (Spain)

^b Escuela Tecnica Superior de Ingenieros de Caminos Canales y Puertos   (Spain)

^c NOKIA RESEARCH CENTER   (United States)

Author keywords

Inverse identification; Multiple model; Neural adaptive control; Non linear plants

Indexed keywords

EID: 0001300723     PISSN: 08906327     EISSN: None     Source Type: Journal    
DOI: 10.1002/(SICI)1099-1115(199906)13:4<219::AID-ACS549>3.0.CO;2-W     Document Type: Article

References (26)

1. Vidyasagar, M., Nonlinear System Analysis, Prentice-Hall, Englewood Cliffs, NJ, 1993.
2. Levin, A. U. and K. S. Narendra, 'Control of nonlinear dynamical systems using neural networks: controllability and stabilization', IEEE Trans. Neural Networks, 4, 192-206 (1993).
3. Friedland, B., Control System Design: An Introduction to State Space Methods, McGraw-Hill, New York, 1991.
4. Fu, K. S., R. C. Gonzalez and C. S. G. Lee, Robotics: Control, Sensing, Vision and Intelligence, McGraw-Hill, New York, 1987.
5. Isidori, A., Nonlinear Control Systems, Springer, Berlin, 1989.
6. Slotine, J.-J. E. and W. Li, Applied Nonlinear Control, Prentice-Hall, Englewood Cliffs, NJ, 1991.
7. Åström, K. J. and B. Wittenmark, Adaptive Control, Addison-Wesley, Reading, MA, 1989.
8. Narendra, K. S. and A. M. Annaswamy, Stable Adaptive Systems, Prentice-Hall. Englewood Cliffs, NJ, 1989.
9. Zurada, J. M., Artificial Neural Systems, West Publishing Company, 1992.
10. Zalzala, A. M. S. and A. S. Morris, Neural Networks for Robotics Control, Theory and Applications, Ellis Horwood, Chichester, 1996.
11. Agarwal, M., 'A systematic classification of neural-network-based control', IEEE Control Systems Mag., 17, 75-93 (1997).
12. Narendra, K. S. and K. Parthasarathy, 'Identification and control of dynamical systems using neural networks', IEEE Trans. Neural Networks, 1, 4-27 (1990).
13. Levin, A. U. and K. S. Narendra, 'Control of nonlinear dynamical systems using neural networks-part II: observability, identification and control'. IEEE Trans. Neural Networks, 7, 30-42 (1996).
14. Narendra, K. S. and J. Balakrishnan, 'Adaptive control using multiple models', IEEE Trans. Neural Networks, 42, 171-187 (1997).
15. Hornik, K., M. Stinchcombe and H. White, 'Multilayer feedforward networks are universal approximators', Neural Networks, 2, 359-366 (1988).
16. Girosi, F. and T. Poggio, 'Networks and the best approximation property', Artificial Intelligence Lab, Memo. No. 1164, MIT, Cambridge, MA, 1989.
17. Psaltis, D., A. Sideris and A. A. Yamamura, 'A multilayered neural network controller', IEEE Control System Mag., 8, 17-21 (1988).
18. Kotta, U. 'Right inverse of a discrete time nonlinear system', Int. J. Control, 51, 1-9 (1990).
19. Sain, M. K. and J. L. Massey, 'Invertibility of linear time-invariant dynamical systems', IEEE Trans. Automat. Control, 14, 141-149 (1969).
20. Hao, J. and J. Vandewalle, 'Inverse identification for control of nonlinear dynamical systems by back propagation neural networks', WCNN, 3, 317-320 (1993).
21. Hush, D. R. and B. G. Home, 'Progress in supervised neural networks. What's new since Lippmann?', IEEE Signal Process. Mag., 10, 8-39 (1993).
22. Alonso, J. I., P. J. Zufiria and K. Membrut, 'Inverse adaptive control of non-linear plants via a multiple model approach. Application to a robot', Engng. Benefits Neural Networks, EANN98, 114-117 (1998).
23. Narendra, K. S., J. Balakrishnan and M. Kemal Ciliz, 'Adaptation and learning using multiple models. Switching and tuning', IEEE Control Systems Mag., 15, 37-51 (1995).
24. Alonso, J. I., J. Cires and P. J. ZufIria, 'Inverse adaptive control of non-linear plants using neural networks. Application to a robot arm controller', Neural Networks Engng. Systems, EANN97, 79-86 (1997).
25. Ananthraman, S. and D. P. Garg, 'Training backpropagation and CMAC neural networks for control of a SCARA robot', Engng. Appl. Artif. Intell, 6, 105-115 (1993).
26. Sanner, R. M. and J.-J. E. Slotine, 'Direct adaptive control with gaussian networks', NSL Report No. 910303, March 1991.