A nonlinear regulator design in the presence of system uncertainties using multilayered neural network.
The authors present a novel nonlinear regulator design method that integrates linear optimal control techniques and nonlinear neural network learning methods. Multilayered neural networks are used to add nonlinear effects to the linear optimal regulator (LOR). The regulator can compensate for nonlinear system uncertainties that are not considered in the LOR design and can tolerate a wider range of uncertainties than the LOR alone. The salient feature of the regulator is that the control performance is much improved by using a priori knowledge of the plant dynamics as the system equation and the corresponding LOR. Computer simulations are performed to show the applicability and the limitations of the regulator.
Iiguni
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Y
Fac. of Eng., Kyoto Univ.
Sakai
H
H
Tokumaru
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H