Adaptive control and identification using one neural network for a class of plants with uncertainties

IEEE Transactions on Systems, Man, and Cybernetics Part A:Systems and Humans.

Volumn 28, Issue 4, 1998, Pages 496-505

  Tsuji, Toshio ^a   Xu, Bing Hong ^b   Kaneko, Makoto ^a  

^a HIROSHIMA UNIVERSITY   (Japan)

^b Yamamoto Electric Corporation   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

ASYMPTOTIC STABILITY; BEAMS AND GIRDERS; FLEXIBLE STRUCTURES; IDENTIFICATION (CONTROL SYSTEMS); NEURAL NETWORKS; TORQUE CONTROL;

LINEAR/NONLINEAR STRUCTURAL UNCERTAINTY;

ADAPTIVE CONTROL SYSTEMS;

EID: 0032124215     PISSN: 10834427     EISSN: None     Source Type: Journal    
DOI: 10.1109/3468.686711     Document Type: Article

References (43)

1. K. S. Narendra and K. Parthasarathy, "Identification and control of dynamical systems using neural networks," IEEE Trans. Neural Networks, vol. 1, no. 2, pp. 4-27, 1990.
2. F.-C. Chen and H. K. Khalil, "Adaptive control of nonlinear systems using neural networks," Int. J. Contr., vol. 55, no. 6, pp. 1299-1317, 1992.
3. C.-C. Liu and F.-C. Chen, "Adaptive control of nonlinear continuous-time systems using neural networks-general relative degree and mimo cases," Int. J. Contr., vol. 58, no. 2, pp. 317-335, 1993.
4. F.-C. Chen and C.-C. Liu, "Adaptively controlling nonlinear continuous-time systems using multilayer neural networks," IEEE Trans. Automat. Contr., vol. 39, no. 6, pp. 1306-1310, 1994.
5. F.-C. Chen and H. K. Khalil, "Adaptive control of a class of nonlinear discrete-time systems using neural networks," IEEE Trans. Automat. Contr., vol. 40, no. 5, pp. 791-801, 1995.
6. F. L. Lewis, K. Liu, and A. Yesildirek, "Neural net robot controller with guaranteed tracking performance," IEEE Trans. Neural Networks, vol. 6, no. 3, pp. 703-715, 1995.
7. S. Jagannathan and F. L. Lewis, "Multilayer discrete-time neural-net controller with guaranteed performance," IEEE Trans. Neural Networks, vol. 7, no. 1, pp. 107-130, 1996.
8. F. L. Lewis, A. Yesildirek, and K. Liu, "Multilayer neural-net robot controller with guaranteed tracking performance," IEEE Trans. Neural Networks, vol. 7, no. 2, pp. 388-399, 1996.
9. T. Yabuta and T. Yamada, "Neural network controller characteristics with regard to adaptive control," IEEE Trans. Syst., Man, Cybern., vol. 22, no. 1, pp. 170-176, 1992.
10. T. Yamada and T. Yabuta, "Some remarks on characteristics of direct neuro-controller with regard to adaptive control," Trans. Soc. Instrum. Contr. Eng., vol. 27, no. 4, pp. 784-791, 1991.
11. L. G. Kraft, III, and D. P. Campagna, "A summary comparison of cmac neural network and traditional adaptive control systems," in Neural Networks for Control, W. T. Miller, R. S. Sutton, and P. J. Werbos, Eds. Cambridge, MA: MIT Press, 1990.
12. N. Sadegh, "A perceptron network for functional identification and control of nonlinear systems," IEEE Trans. Neural Networks, vol. 4, no. 6, pp. 982-988, 1993.
13. R. Carelli, E. F. Camacho, and D. Patino, "A neural network based feedforward adaptive controller for robots," IEEE Trans. Syst., Man, Cybern., vol. 25, pp. 1281-1288, May 1995.
14. S. Akhyar and S. Omatsu, "Self-tuning pid control by neural networks," in Proc. Int. Joint Conf. Neural Networks, 1993, pp. 2749-2752.
15. M. Khalid, S.Omatu, and R. Yusof, "Temperature regulation with neural networks and alternative control schemes," IEEE Trans. Neural Networks, vol. 6, no. 3, pp. 572-582, 1995.
16. M. Kawato, Y. Uno, M. Isobe, and R. Suzuki, "A hierarchical model for voluntary movement and its application to robotics," IEEE Contr. Syst. Mag., vol. 8, no. 2, pp. 8-16, 1988.
17. Y. Iiguni, H. Sakai, and H. Tokumaru, "A nonlinear regulator design in the presence of system uncertainties using multilayered neural network," IEEE Trans. Neural Networks, vol. 2, no. 4, pp. 410-417, 1991.
18. C. Ku and K. Y. Lee, "Diagonal recurrent neural networks for dynamic systems control," IEEE Trans. Neural Networks, vol. 6, no. 1, pp. 144-156, 1995.
19. M. M. Polycarpou and A. J. Helmicki, "Automated fault detection and accommodation: A learning systems approach," IEEE Trans. Syst., Man, Cybern., vol. 25, pp. 1447-1458, Feb. 1995.
20. G. A. Rovithakis and M. A. Christodoulou, "Direct adaptive regulation of unknown nonlinear dynamical systems via dynamic neural networks," IEEE Trans. Syst., Man, Cybern., vol. 25, pp. 1578-1594, Dec. 1995.
21. A. U. Levin and K. S. Narendra, "Control of nonlinear dynamical systems using neural networks - part ii: Observability, identification, and control," IEEE Trans. Neural Networks, vol. 7, no. 1, pp. 30-42, 1996.
22. K. Takahashi, "Neural-network-based learning control applied to a single-link flexible arm," in Proc. 2nd Int. Conf. Motion Vibration Control, 1994, pp. 811-816.
23. G. A. Rovithakis and M. A. Christodoulou, "Adaptive control of unknown plants using dynamical neural networks," IEEE Trans. Syst., Man, Cybern., vol. 24, pp. 400-412, Mar. 1994.
24. M. A. Kaashoek, J. H. van Schuppen, and A. C. M. Ran, Robust Control of Linear Systems and Nonlinear Control. Boston, MA: Birkhäuser, 1990.
25. ∞ Control Theory. New York: Springer-Verlag, 1987.
26. K. J. Åströ and B. Wittenmark, Adaptive Control. Norwell, MA: Addison-Wesley, 1989.
27. T. Kailath, Linear Systems. Englewood Cliffs, NJ: Prentice-Hall, 1980.
28. D. E. Rumelhart, G. E. Hinton, and R. J. Williams, "Learning representations by error propagation," in Parallel Distributed Processing, D. E. Rumelhart, J. L. McClelland, and PDP Research Group, Eds. Cambridge, MA: MIT Press, 1986, vol. 1, pp. 318-362.
29. G. Cybenko, "Approximation by superposition of a sigmoidel function," in Artificial Neural Networks: Concepts and Theory, P. Mehra and B. W. Wah, Eds. Los Alamitos, CA: IEEE Comput. Soc. Press, 1992, pp. 488-499.
30. K. Funahashi, "On the approximate realization of continuous mappings by neural networks," Neural Networks, vol. 2, pp. 183-192, 1989.
31. R. N. Clark, Control System Dynamic. Cambridge, U.K.: Cambridge Univ. Press, 1996.
32. M. Kaneko, "Active antenna," in Proc. IEEE Int. Conf. Robotics Automation, 1994, pp. 2665-2671.
33. M. Kaneko, N. Kanayama, and T. Tsuji, "3-D active antenna for contact sensing," in Proc. IEEE Int. Conf. Robotics Automation, 1995, vol. 1, pp. 1113-1119.
34. N. Ueno, M. Kaneko, and M. Svinin, "Theoretical and experimental investigation on dynamic active antenna," in Proc. IEEE Int. Conf. Robotics Automation, vol. 3, pp. 3557-3563, 1996.
35. T. Fukuda, N. Kitamura, and K. Tanie, "Adaptive force control in robot manipulation with consideration of characteristics of objects," Trans. Jpn. Soc. Mech. Eng., vol. 53, no. 487, pp. 726-730, 1987 (in Japanese).
36. T. Fukuda and A. Arakawa, "Control of flexible robotic arms," Trans. Jpn. Soc. Mech. Eng., vol. 53, no. 488, pp. 954-961, 1987 (in Japanese).
37. M. Tokita and T. Fukuda, "Force control of robotic manipulator using neural network," J. Robot. Soc. Jpn., vol. 14, no. 1, pp. 75-82, 1996 (in Japanese).
38. T. Yamada and T. Yabuta, "Nonlinear neural network controller for dynamic systems," in Proc. 16th Annu. Conf. IEEE Industrial Electronics Soc., 1990, pp. 1244-1249.
39. E. Rijanto, A. Moran, T. Kurihara, and M. Hayase, "Robust tracking control of flexible arm using inverse dynamics method," in Proc. 4th Int. Workshop Advanced Motion Control, 1996, pp. 669-674.
40. J. Lu, M. Shafiq, and T. Yahagi, "Vibration control of flexible robotic arms using robust model matching control," in Proc. 4th Int. Workshop Advanced Motion Control, 1996, pp. 663-668.
41. K. S. Narendra and A. M. Annaswamy, Stable Adaptive Systems. Englewood Cliffs, NJ: Prentice-Hall, 1989.
42. W. T. Miller, R. S. Sutton, and P. J. Werbos, Neural Networks for Control. Cambridge, MA: MIT Press, 1990.
43. A. Weinmann, Uncertain Models and Robust Control. New York: Springer-Verlag, 1991.