Control of a class of nonlinear discrete-time systems using multilayer neural networks.
A multilayer neural-network (NN) controller is designed to deliver a desired tracking performance for the control of a class of unknown nonlinear systems in discrete time where the system nonlinearities do not satisfy a matching condition. Using the Lyapunov approach, the uniform ultimate boundedness of the tracking error and the NN weight estimates are shown by using a novel weight updates. Further, a rigorous procedure is provided from this analysis to select the NN controller parameters. The resulting structure consists of several NN function approximation inner loops and an outer proportional derivative tracking loop. Simulation results are then carried out to justify the theoretical conclusions. The net result is the design and development of an NN controller for strict-feedback class of nonlinear discrete-time systems.
Jagannathan
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Department of Electrical and Computer Engineering, University of Texas, San Antonio, TX 78249, USA.