High-gain observers in the state and estimation of robots having elastic joints
Systems & Control Letters
Robust adaptive control
Identification of nonlinear dynamical systems using multilayered neural networks
Automatica (Journal of IFAC)
Neural Networks: A Comprehensive Foundation
Neural Networks: A Comprehensive Foundation
Stability of Adaptive Controllers
Stability of Adaptive Controllers
Multilayer neural-net robot controller with guaranteed tracking performance
IEEE Transactions on Neural Networks
Nonlinear adaptive trajectory tracking using dynamic neural networks
IEEE Transactions on Neural Networks
Some new results on system identification with dynamic neural networks
IEEE Transactions on Neural Networks
High-order neural network structures for identification of dynamical systems
IEEE Transactions on Neural Networks
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We propose a new type of neural adaptive control via dynamic neural networks. For a class of unknown nonlinear systems, a neural identifier-based feedback linearization controller is first used. Dead-zone and projection techniques are applied to assure the stability of neural identification. Then four types of compensator are addressed. The stability of closed-loop system is also proven.