Stable identification of nonlinear systems using neural networks: Theory and experiments

IEEE/ASME Transactions on Mechatronics

Volumn 11, Issue 4, 2006, Pages 488-495

  Abdollahi, Farzaneh ^a,b   Talebi, H Ali ^a,b,c   Patel, Rajnikant V ^a,d  

^a IEEE   (Canada)

^b Dept of Electrical and Computer Engineering   (Canada)

^c AMIRKABIR UNIVERSITY OF TECHNOLOGY   (Iran)

^d UNIVERSITY OF WESTERN ONTARIO   (Canada)

Author keywords

Macro micro manipulators (M3); Neural networks; Nonlinear identification; Nonlinear system

Indexed keywords

MACRO MICRO MANIPULATORS; NONLINEAR IDENTIFICATION; NONLINEAR IN PARAMETERS NEURAL NETWORKS (NLPNN);

BACKPROPAGATION ALGORITHMS; CONTROL EQUIPMENT; FEEDFORWARD NEURAL NETWORKS; LYAPUNOV METHODS; MATHEMATICAL MODELS; MOBILE ROBOTS; NONLINEAR SYSTEMS; ONLINE SYSTEMS;

MECHATRONICS;

EID: 33947187525     PISSN: 10834435     EISSN: None     Source Type: Journal    
DOI: 10.1109/TMECH.2006.878527     Document Type: Article

References (18)

1. W. Ren and P. R. Kumar, "Stochastic adaptive prediction and model reference control," IEEE Trans. Autom. Control, vol. 39, pp. 2047-2060, 1994.
2. F. L. Lewis, S. Jagannathan, and A. Yesildirek, Neural Newark Control of Robot Manipulators and Nonlinear Systems. New York: Taylor & Francis, 1999.
3. M. M. Polycarpou, "Stable adaptive neural control scheme for nonlinear systems," IEEE Trans. Autom. Control, vol. 41, no. 3, pp. 447-451, 1996.
4. N. Sadegh, "A perception network for functional identification and control of nonlinear systems," IEEE Trans. Neural Netw., vol. 4, no. 6, pp. 982-988, 1993.
5. M. M. Polycarpou and P. A. Ioannou, "Modeling, identification and stable adaptive control of continuous-time nonlinear dynamical system using neural networks," in Proc. Am. Control Conf., 1992, pp. 36-40.
6. C. C. Lee and C. C. Teng, "Identification and control of dynamic system using recurrent fuzzy neural networks," IEEE Trans. Fuzzy Syst., vol. 8, no. 4, pp. 349-366, 2000.
7. J. Mahdavi, M. R. Nasiri, A. Agah, and A. Emadi, "Application of neural networks and state-space average to dc/dc pwm converters in sliding-mode operation," IEEE/ASME Trans. Mechatron., vol. 10, no. 1, pp. 60-67, 2005.
8. H. A. Talebi, R. V. Patel, and H. Asmer, "Neural network based dynamic modeling of flexible-link manipulators with application to the SSRMS," J. Robot. Syst., vol. 17, pp. 385-401, 2000.
9. K. S. Narendra and K. Parthasarathy, "Identification and control of dynamical systems using neural networks," IEEE Trans. Neural Netw., vol. 1, no. 1, pp. 4-27, 1990.
10. R. Hecht-Nielsen, "Theory of the backpropagation neural network," in Proc. Int. Joint Conf. Neural Netw., 1989, pp. 593-605.
11. N. Hovakimyan, A. J. Cause, and V. K. Madyastha, "An adaptive observer design methodology for bounded nonlinear processes," in Proc. 41st IEEE Conf. Decision Control, 2002, pp. 4700-4705.
12. K. S. Narendra and A. M. Annaswamy, Stable Adaptive Systems. Englewood Cliffs, NJ: Prentice-Hall, 1989.
13. A. De Luca and B. Siciliano, "An asymptotically stable joint pd controller for robot arms with flexible links under gravity," in Proc. 31st IEEE Conf. Decision Control, 1992, pp. 325-326.
14. X.P. Cheng and R.V. Patel, "Neural network based tracking control of a flexible macro-micro manipulator system," Neural Netw., vol. 16, pp. 271-286, 2003.
15. D.P. Magee and W. J. Book, "Filtering macro manipulator wrist commands to prevent flexible base motion," in Proc. Amer. Control Conf., 1995, pp. 1836-1842.
16. M. Moallem and R. V. Patel, "A vibration control strategy for a boommounted manipulator system for high-speed positioning," in Proc. IEEE Int. Conf. Intell. Robots Syst., 1999, pp. 299-304.
17. M.R. Kermani, R. V. Patel, and M. Moallem, "Flexure control using piezostack actuators: design and implementation," IEEE/ASME Trans. Mechatron., vol. 10, no. 2, pp. 181-188, 2005.
18. A. Mannani and H. A. Talebi, "A fuzzy Iyapunov-based control strategy for a macro-micro manipulator: experimental results," IEEE Trans. Control Syst. Technol., to be published, 2006.