Decentralized neural identifier and control for nonlinear systems based on extended Kalman filter

Authors:
Carlos E. Castañeda;P. Esquivel
Affiliations:
Universidad de Guadalajara, Centro Universitario de los Lagos, Av. Enrique Díaz de León no. 1144 Col. Paseos de la Montaña, Lagos de Moreno, Jalisco, 47460, Mexico;Instituto Tecnológico de Tepic, Av. Tecnológico no. 2595 Col. Lagos del Country, Tepic, Nayarit, 63175, Mexico
Venue:
Neural Networks
Year:
2012

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Abstract

A time-varying learning algorithm for recurrent high order neural network in order to identify and control nonlinear systems which integrates the use of a statistical framework is proposed. The learning algorithm is based in the extended Kalman filter, where the associated state and measurement noises covariance matrices are composed by the coupled variance between the plant states. The formulation allows identification of interactions associate between plant state and the neural convergence. Furthermore, a sliding window-based method for dynamical modeling of nonstationary systems is presented to improve the neural identification in the proposed methodology. The efficiency and accuracy of the proposed method is assessed to a five degree of freedom (DOF) robot manipulator where based on the time-varying neural identifier model, the decentralized discrete-time block control and sliding mode techniques are used to design independent controllers and develop the trajectory tracking for each DOF.