Creator:
Ahmida, Zahir ; Charef, Abdelfettah ; Becerra, Victor M.
Contributor:
Korbicz, Józef - red. ; Uciński, Dariusz - red.
Title:
Group publication title:
Subject and Keywords:
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.
Publisher:
Zielona Góra: Uniwersytet Zielonogórski
Date:
Resource Type:
Pages:
Source:
AMCS, volume 15, number 3 (2005) ; click here to follow the link