Self-organizing approximation-based control for higher order systems.
Adaptive approximation-based control typically uses approximators with a predefined set of basis functions. Recently, spatially dependent methods have defined self-organizing approximators where new locally supported basis elements were incorporated when existing basis elements were insufficiently excited. In this paper, performance-dependent self-organizing approximators will be defined. The designer specifies a positive tracking error criteria. The self-organizing approximation-based controller then monitors the tracking performance and adds basis elements only as needed to achieve the tracking specification. The method of this paper is applicable to general nth-order input-state feedback linearizable systems. This paper includes a complete stability analysis and a detailed simulation example.
Zhao
Yuanyuan
Y
Department of Electrical Engineering, University of California, Riverside, CA 92521, USA. yzhao@ee.ucr.edu
Farrell
Jay A
JA
D000465:Algorithms; D003198:Computer Simulation; D003661:Decision Support Techniques; D005246:Feedback; D008962:Models, Theoretical; D016571:Neural Networks, Computer; D017711:Nonlinear Dynamics