Stable adaptive systems
Nonlinear control design: geometric, adaptive and robust
Nonlinear control design: geometric, adaptive and robust
Nonlinear Control Systems
Adaptive Control
Neural Network Control of Robot Manipulators and Nonlinear Systems
Neural Network Control of Robot Manipulators and Nonlinear Systems
Adaptive Systems with Reduced Models
Adaptive Systems with Reduced Models
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Output regulation of nonlinear uncertain system with nonminimum phase via enhanced RBFN controller
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
Brief On the design of ILC algorithms using optimization
Automatica (Journal of IFAC)
Adaptive output feedback control methodology applicable to non-minimum phase nonlinear systems
Automatica (Journal of IFAC)
Output-feedback stabilization of a class of uncertain non-minimum-phase nonlinear systems
Automatica (Journal of IFAC)
Multilayer neural-net robot controller with guaranteed tracking performance
IEEE Transactions on Neural Networks
Neural-network control of nonaffine nonlinear system with zero dynamics by state and output feedback
IEEE Transactions on Neural Networks
Brief paper: Robust adaptive control of nonlinear non-minimum phase systems with uncertainties
Automatica (Journal of IFAC)
Robust adaptive control of flexible link manipulators using multilayer perceptron
Journal of Intelligent & Fuzzy Systems: Applications in Engineering and Technology
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This paper presents an adaptive output-feedback control method for non-affine nonlinear non-minimum phase systems that have partially known Lipschitz continuous functions in their arguments. The proposed controller is comprised of a linear, a neuro-adaptive and an adaptive robustifying control term. The adaptation law for the neural network weights is obtained using the Lyapunov's direct method. One of the main advantageous of the proposed method is that the control law does not depend on the state estimation. This task is accomplished by introducing a strictly positive-real augmented error dynamic and using the Leftshetz---Kalman---Yakobuvich lemma. The ultimate boundedness of the error signals will be shown analytically using the extension of Lyapunov theory. The effectiveness of the proposed scheme will be shown in simulations for the benchmark problem Translational Oscillator/Rotational Actuator (TORA) system.