Brief Paper: Design and performance analysis of a direct adaptive controller for nonlinear systems

Authors:
T. Zhang;S. S. Ge;C. C. Hang
Affiliations:
Department of Electrical Engineering, National University of Singapore, 10 Kent Ridge Crescent, Singapore 119260, Singapore;Department of Electrical Engineering, National University of Singapore, 10 Kent Ridge Crescent, Singapore 119260, Singapore;Department of Electrical Engineering, National University of Singapore, 10 Kent Ridge Crescent, Singapore 119260, Singapore
Venue:
Automatica (Journal of IFAC)
Year:
1999

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Abstract

In this paper, a direct adaptive controller is developed based on multilayer neural networks (MNNs) for a class of nonlinear systems. The proposed scheme avoids the possible singularity problem of the controller usually met in adaptive control design. The system tracking error is proven to converge to a small neighborhood of zero, while the stability of the closed-loop system is guaranteed. The transient performance of the resulting adaptive system is analytically quantified, and an example is given to show the effectiveness of the scheme.