Constrained Control of Weakly Coupled Nonlinear Systems Using Neural Network

Authors:
Dipak M. Adhyaru;I. N. Kar;M. Gopal
Affiliations:
Instrumentation and Control Engineering Department, Institute of Technology, Nirma University, Ahmedabad, India 382481;Department of Electrical Engineering, Indian Institute of Technology, Delhi 110016;Department of Electrical Engineering, Indian Institute of Technology, Delhi 110016
Venue:
PReMI '09 Proceedings of the 3rd International Conference on Pattern Recognition and Machine Intelligence
Year:
2009

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Abstract

In this paper, a new algorithm is proposed for the constrained control of weakly coupled nonlinear systems. The controller design problem is solved by solving Hamilton-Jacobi-Bellman(HJB) equation with modified cost to tackle constraints on the control input and unknown coupling. In the proposed controller design framework, coupling terms have been formulated as model uncertainties. The bounded controller requires the knowledge of the upper bound of the uncertainty. In the proposed algorithm, Neural Network (NN) is used to approximate the solution of HJB equation using least squares method. Necessary theoretical and simulation results are presented to validate proposed algorithm.