Neural Network-Based Adaptive Control of Uncertain Nonlinear Systems

✍ Scribed by Kasra Esfandiari, Farzaneh Abdollahi, Heidar A. Talebi

• Publisher: Springer
• Year: 2021
• Tongue: English
• Leaves: 181
• Edition: 1st ed. 2022
• Category: Library

✦ Synopsis

The focus of this book is the application of artificial neural networks in uncertain dynamical systems. It explains how to use neural networks in concert with adaptive techniques for system identification, state estimation, and control problems. The authors begin with a brief historical overview of adaptive control, followed by a review of mathematical preliminaries. In the subsequent chapters, they present several neural network-based control schemes. Each chapter starts with a concise introduction to the problem under study, and a neural network-based control strategy is designed for the simplest case scenario. After these designs are discussed, different practical limitations (i.e., saturation constraints and unavailability of all system states) are gradually added, and other control schemes are developed based on the primary scenario. Through these exercises, the authors present structures that not only provide mathematical tools for navigating control problems, but also supply solutions that are pertinent to real-life systems.

 

✦ Table of Contents

Preface
Contents
Acronyms
List of Figures
List of Tables
1 Introduction
1.1 Nonlinear Adaptive Control: Motivation and Overview
1.2 Outline
1.2.1 Chapter 2: Mathematical Preliminaries
1.2.2 Chapter 3: NN-Based Adaptive Control of Affine Nonlinear Systems
1.2.3 Chapter 4: NN-Based Adaptive Control of Nonaffine Canonical Nonlinear Systems
1.2.4 Chapter 5: NN-Based Adaptive Control of Nonaffine Noncanonical Nonlinear Systems
1.2.5 Chapter 6: NN-Based Adaptive Control of MIMO Nonaffine Noncanonical Nonlinear Systems
References
2 Mathematical Preliminaries
2.1 Mathematical Review
2.2 Geometric Nonlinear Control
2.3 Multilayer Neural Networks
References
3 NN-Based Adaptive Control of Affine Nonlinear Systems
3.1 Introduction
3.2 State Feedback Control of Affine Nonlinear Systems
3.2.1 Problem Formulation
3.2.2 Adaptive NN-Based Controller Design
3.2.3 Stability Analysis
3.2.4 Simulation Results
3.2.4.1 Van der Pol Oscillator Nonlinear System
3.2.4.2 Pendulum Nonlinear System
3.3 State Feedback Control of Affine Nonlinear Systems with Input Constraints
3.3.1 Problem Formulation
3.3.2 Adaptive NN-Based Controller Design
3.3.3 Stability Analysis
3.3.4 Simulation Results
3.3.4.1 Van der Pol Oscillator Nonlinear System
3.3.4.2 Pendulum Nonlinear System
3.4 Output Feedback Control of Affine Nonlinear Systems with Input Constraints
3.4.1 Problem Formulation
3.4.2 Adaptive NN-Based Controller Design
3.4.3 Stability Analysis
3.4.4 Simulation Results
3.4.4.1 Van der Pol Oscillator Nonlinear System
3.4.4.2 Pendulum Nonlinear System
3.5 Conclusions
References
4 NN-Based Adaptive Control of Nonaffine Canonical Nonlinear Systems
4.1 Introduction
4.2 State Feedback Control of Nonaffine Nonlinear Systems
4.2.1 Problem Formulation
4.2.2 Adaptive NN-Based Controller Design
4.2.3 Stability Analysis
4.2.4 Simulation Results
4.2.4.1 Pendulum Nonlinear System
4.2.4.2 Duffing–Holmes Chaotic System
4.2.4.3 Numerical Example
4.3 State Feedback Control of Nonaffine Nonlinear Systems with Input Constraints
4.3.1 Problem Formulation
4.3.2 Adaptive NN-Based Controller Design
4.3.3 Stability Analysis
4.3.4 Simulation Results
4.3.4.1 Pendulum Nonlinear System
4.3.4.2 Duffing–Holmes Chaotic System
4.3.4.3 Numerical Example
4.4 Output Feedback Control of Nonaffine Nonlinear Systems with Input Constraints
4.4.1 Problem Formulation
4.4.2 Adaptive NN-Based Controller Design
4.4.3 Stability Analysis
4.4.4 Simulation Results
4.4.4.1 Pendulum Nonlinear System
4.4.4.2 Duffing–Holmes Chaotic System
4.4.4.3 Numerical Example
4.5 Conclusions
References
5 NN-Based Adaptive Control of Nonaffine Noncanonical Nonlinear Systems
5.1 Introduction
5.2 State Feedback Control of Nonaffine Systems with Unknown Control Direction
5.2.1 Problem Formulation
5.2.2 Adaptive NN-Based Controller Design
5.2.3 Stability Analysis
5.2.4 Simulation Results
5.3 Output Feedback Control of Nonaffine Systems with Unknown Control Direction
5.3.1 Problem Formulation
5.3.2 Adaptive NN-Based Controller Design
5.3.3 Stability Analysis
5.3.4 Simulation Results
5.4 Conclusions
References
6 NN-Based Adaptive Control of MIMO Nonaffine Noncanonical Nonlinear Systems
6.1 Introduction
6.2 Problem Formulation
6.3 Adaptive NN-Based Controller Design
6.4 Stability Analysis
6.5 Simulation Results
6.5.1 Numerical System
6.5.2 Case Study 1: Application to Flexible Link Manipulators
6.5.2.1 Two-Link Flexible Manipulator Model
6.5.2.2 Simulation Results
6.5.3 Case Study 2: Experimental Results on Whole Arm Manipulator
6.6 Conclusions
References
Index