Abstract
In this paper, stable indirect adaptive control with recurrent neural networks (RNN) is presented for square multivariable non-linear plants with unknown dynamics. The control scheme is made of an adaptive instantaneous neural model, a neural controller based on fully connected “Real-Time Recurrent Learning” (RTRL) networks and an online parameters updating law. Closed-loop performances as well as sufficient conditions for asymptotic stability are derived from the Lyapunov approach according to the adaptive updating rate parameter. Robustness is also considered in terms of sensor noise and model uncertainties. This control scheme is applied to the manipulator robot process in order to illustrate the efficiency of the proposed method for real-world control problems.
Highlights
Research in non-linear control theory has been motivated by the inherent characteristics of the dynamical systems to control
The control scheme is made of an adaptive instantaneous neural model, a neural controller based on fully connected “Real-Time Recurrent Learning” (RTRL) networks and an online parameters updating law
Robust stable indirect adaptive control with fully connected neural networks is developed for nonlinear systems with unknown dynamics
Summary
Research in non-linear control theory has been motivated by the inherent characteristics of the dynamical systems to control. Control engineers have hardly worked to improve the usual control methods as PID in order to guarantee closed loop stability in the presence of unmodeled dynamics and external disturbances Despite these efforts, conventional linear control techniques cannot meet all requirements to satisfy system performances, and adaptive control seems today an efficient strategy to study the stabilization and tracking of highly uncertain dynamical systems. In [8,9] the authors presented a stable adaptive control scheme for a multivariable nonlinear systems with a triangular structure using multilayer neural networks. The control design is based on integral type Lyapunov function and the block-triangular structure properties These control schemes, cannot be extended to the general class of MIMO nonlinear systems.
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