Adaptive inverse control of linear and nonlinear systems using dynamic neural networks

IEEE Transactions on Neural Networks

Volumn 14, Issue 2, 2003, Pages 360-376

  Plett, Gregory L ^a  

^a UNIVERSITY OF COLORADO   (United States)

Author keywords

Adaptive inverse control; Disturbance canceling; Disturbance rejection; Feedforward control; System identification

Indexed keywords

ADAPTIVE ALGORITHMS; ADAPTIVE CONTROL SYSTEMS; DYNAMIC PROGRAMMING; DYNAMIC RESPONSE; FEEDBACK CONTROL; INVERSE PROBLEMS; LINEAR CONTROL SYSTEMS; MATHEMATICAL MODELS; MULTIVARIABLE SYSTEMS; NONLINEAR CONTROL SYSTEMS; PARAMETER ESTIMATION;

ADAPTIVE INVERSE CONTROL; DISTURBANCE CANCELLING; DISTURBANCE REJECTION; DYNAMIC NEURAL NETWORKS; MULTIPLE INPUT MULTIPLE OUTPUT SYSTEMS; SINGLE INPUT SINGLE OUTPUT SYSTEMS;

FEEDFORWARD NEURAL NETWORKS;

EID: 0037358447     PISSN: 10459227     EISSN: None     Source Type: Journal    
DOI: 10.1109/TNN.2003.809412     Document Type: Article

References (33)

1. K. J. Åström and B. Wittenmark, Adaptive Control, 2nd ed. Reading, MA: Addison-Wesley, 1995.
2. S. H. Lane and R. F. Stengel, "Flight control design using nonlinear inverse dynamics," Automatica, vol. 24, no. 4, pp. 471-83, 1988.
3. D. Enns, D. Bugajski, R. Hendrick, and G. Stein, "Dynamic inversion: An evolving methodology for flight control design," Int. J. Contr., vol. 59, no. 1, pp. 71-91, 1994.
4. Y. D. Song, T. L. Mitchell, and H. Y. Lai, "Control of a class of nonlinear uncertain systems via compensated inverse dynamics approach," IEEE Trans. Automat. Contr., vol. 39, pp. 1866-71, Sept. 1994.
5. B. S. Kim and A. J. Calise, "Nonlinear flight control using neural networks," J. Guidance, Contr., Dyn., vol. 20, no. 1, pp. 26-33, Jan.-Feb. 1997.
6. L. Yan and C. J. Li, "Robot learning control based on recurrent neural network inverse model," J. Robot. Syst., vol. 14, no. 3, pp. 199-212, 1997.
7. G. L. Plett, "Adaptive inverse control of unknown stable SISO and MIMO linear systems," Int. J. Adaptive Contr. Signal Processing, vol. 16, no. 4, pp. 243-72, May 2002.
8. G. L. Plett, "Adaptive inverse control of plants with disturbances," Ph.D. dissertation, Stanford Univ., Stanford, CA, May 1998.
9. B. Widrow, G. L. Plett, E. Ferreira, and M. Lamego, "Adaptive inverse control based on nonlinear adaptive filtering," in Proc. 5th IFAC Workshop Algorithms Architectures for Real-Time Contr. AARTC'98, Cancun. Mexico, Apr. 1998, (invited paper), pp. 247-252.
10. B. Widrow and G. L. Plett, "Nonlinear adaptive inverse control," in Proc. 36th IEEE Conf. Decision Contr., vol. 2, San Diego, CA, Dec. 10-12, 1997, pp. 1032-1037.
11. M. Bilello, "Nonlinear adaptive inverse control," Ph.D. dissertation, Stanford Univ., Stanford, CA, Apr. 1996.
12. B. Widrow and G. L. Plett, "Adaptive inverse control based on linear and nonlinear adaptive filtering," in Proc. World Congr. Neural Networks, San Diego, CA, Sept. 1996, pp. 620-27.
13. B. Widrow and E. Walach, Adaptive Inverse Control. Upper Saddle River, NJ: Prentice-Hall, 1996.
14. H. T. Siegelmann, B. B. Horne, and C. L. Giles, "Computational capacities of recurrent NARX neural networks," IEEE Trans. Syst., Man, Cybern. B, vol. 27, pp. 208-215, Apr. 1997.
15. P. Werbos, "Beyond regression: New tools for prediction and analysis in the behavioral sciences," Ph.D. dissertation, Harvard Univ., Cambridge, MA, Aug. 1974.
16. D. B. Parker, "Learning logic," Stanford Univ., Stanford, CA, Tech. Rep. Invention Rep. S81-64, File 1, Office Technol, Licencing, Oct. 1982.
17. D. E. Rumelhart, G. E. Hinton, and R. J. Williams, "Learning internal representations by error propagation," in Parallel Distributed Processing, D. E. Rumelhart and J. L. McClelland, Eds. Cambridge, MA: MIT Press, 1986, vol. 1, ch. 8.
18. R. J. Williams, and D. Zipser, "Experimental analysis of the real-time recurrent learning algorithm," Connection Sci., vol. 1, no. 1, pp. 87-111, 1989.
19. D. H. Nguyen and W. Widrow, "Neural networks for self-learning control systems," IEEE Contr. Syst. Mag., vol. 10, pp. 18-23, Apr. 1990.
20. S. W. Piché, "Steepest descent algorithms for neural network controllers and filters," IEEE Trans. Neural Networks, vol. 5, pp. 198-212, Mar. 1994.
21. B. Widrow and M. A. Lehr, "30 years of adaptive neural networks: Perceptron, Madaline, and backpropagation," Proc. IEEE, vol. 78, pp. 1415-42, Sept. 1990.
22. A. N. Kolmogorov, "On the representation of continuous functions of many variables by superposition of continuous functions of one variable and addition" (in Russian), Dokl. Akad. Nauk USSR, vol. 114, pp. 953-56, 1957.
23. A. Gersho and R. M. Gray, Vector Quantization and Signal Compression. Boston, MA: Kluwer, 1992.
24. G. V. Puskorius and L. A. Feldkamp, "Recurrent network training with the decoupled extended Kalman filter algorithm," in Proc. SPIE Sci. Artificial Neural Networks, vol. 1710, New York, 1992, pp. 461-473.
25. G. L. Plett and H. Böttrich. DDEKF learning for fast nonlinear adaptive inverse control. presented at Proc. 2002 World Congr. Comput. Intell.
26. C. E. Garcia and M. Morari, "Internal model control. 1. A unifying review and some new results," Ind. Eng. Chemistry Process Design Development, vol. 21, no. 2, pp. 308-23, Apr. 1982.
27. ____, "Internal model control. 2. Design procedure for multivariable systems," Ind. Eng. Chem. Process Design Development, vol. 24, no. 2, pp. 472-84, Apr. 1985.
28. ____, "Internal model control. 3. Multivariable control law computation and tuning guidelines," Ind. Eng. Chem. Process Design Development, vol. 24, no. 2, pp. 484-94, Apr. 1985.
29. D. E. Rivera, M. Morari, and S. Skogestad, "Internal model control. 4. PID controller design," Ind. Eng. Chem. Process Design Development, vol. 25, no. 1, pp. 252-65, Jan. 1986.
30. C. G. Economou and M. Morari, "Internal model control. 5. Extension to nonlinear systems," Ind. Eng. Chem. Process Design Development, vol. 25, no. 2, pp. 403-44, April 1986.
31. ____, "Internal model control. 6. Multiloop design," Ind. Eng. Chem. Process Design Development, vol. 25, no. 2, pp. 411-19, Apr. 1986.
32. J. E. Marsden and A. J. Tromba, Vector Calculus, 3rd ed. San Francisco, CA: Freeman, 1988, pp. 243-7.
33. K. S. Narendra and K. Parthasarathy, "Identification and control of dynamical systems using neural networks," IEEE Trans. Neural Networks, vol. 1, pp. 4-27, Mar. 1990.