Robustifying analysis of the direct adaptive control of unknown multivariable nonlinear systems based on a new neuro-fuzzy method

• Autorzy: Theodoridis D. C. , Boutalis Y.S. , Christodoulou M. A.
• Języki publikacji: EN

Abstrakty

EN

In this paper, we are dealing with the problem of directly regulating unknown multivariable affine in the control nonlinear systems and its robustness analysis. The method employs a new Neuro-Fuzzy Dynamical System definition, which uses the concept of Fuzzy Systems (FS) operating in conjunction with High Order Neural Networks. In this way the unknown plant is modeled by a fuzzy - recurrent high order neural network structure (F-RHONN), which is of the known structure considering the neglected nonlinearities. The development is combined with a sensitivity analysis of the closed loop in the presence of modeling imperfections and provides a comprehensive and rigorous analysis showing that our adaptive regulator can guarantee the convergence of states to zero or at least uniform ultimate boundedness of all signals in the closed loop when a not-necessarily-known modeling error is applied. The existence and boundedness of the control signal is always assured by employing a method of parameter “Hopping” and “Modified Hopping”, which appears in the weight updating laws. Simulations illustrate the potency of the method showing that by following the proposed procedure one can obtain asymptotic regulation despite the presence of modeling errors. Comparisons are also made to simple recurrent high order neural network (RHONN) controllers, showing that our approach is superior to the case of simple RHONN’s.

Słowa kluczowe

EN

nonlinear systems; control; neuro-fuzzy dynamical system; fuzzy systems; FS; fuzzy recurrent high order neural network; F-RHONN; adaptive regulator; parameter; hopping parameter; modified hopping parameter; modeling errors; asymptotic regulation

• Wydawca: University of Social Sciences
• Czasopismo: Journal of Artificial Intelligence and Soft Computing Research
• Rocznik: 2011
• Tom: Vol. 1, No. 1
• Strony: 59--79
• Opis fizyczny: Bibliogr. 27 poz., rys.

Twórcy

autor

Theodoridis D. C.

• Department of Electrical and Computer Engineering, Democritus University of Thrace, Xanthi, Greece, 67100 GR

autor

Boutalis Y.S.

• Department of Electrical, Electronic and Communication Engineering, Chair of Automatic Control, University of Erlangen-Nuremberg, Germany

autor

Christodoulou M. A.

• Department of Electronic and Computer Engineering, Technical University of Crete, Chania, Crete, Greece 73100 GR

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