Autor:

Ahmida, Zahir ; Charef, Abdelfettah ; Becerra, Victor M.

Współtwórca:

Korbicz, Józef (1951- ) - red. ; Uciński, Dariusz - red.

Tytuł:

Stabilising solutions to a class of nonlinear optimal state tracking problems using radial basis function networks

Tytuł publikacji grupowej:

AMCS, Volume 15 (2005)

Temat i słowa kluczowe:

nonlinear systems ; optimal control ; radial basis functions ; neural networks ; predictive control ; feedforward control

Abstract:

A controller architecture for nonlinear systems described by Gaussian RBF neural networks is proposed. The controller is a stabilising solution to a class of nonlinear optimal state tracking problems and consists of a combination of a state feedback stabilising regulator and a feedforward neuro-controller. ; The state feedback stabilising regulator is computed online by transforming the tracking problem into a more manageable regulation one, which is solved within the framework of a nonlinear predictive control strategy with guaranteed stability. The feedforward neuro-controller has been designed using the concept of inverse mapping. The proposed control scheme is demonstrated on a simulated single-link robotic manipulator.

Wydawca:

Zielona Góra: Uniwersytet Zielonogórski

Data wydania:

2005

Typ zasobu:

artykuł

Strony:

369-381

Źródło:

AMCS, volume 15, number 3 (2005) ; kliknij tutaj, żeby przejść

Jezyk:

eng

Licencja CC BY 4.0:

kliknij tutaj, żeby przejść

Prawa do dysponowania publikacją:

Biblioteka Uniwersytetu Zielonogórskiego