Stable adaptive systems
Transfer functions for a single flexible link
International Journal of Robotics Research
Nonlinear control design for slightly non-minimum phase systems: application to V/STOL aircraft
Automatica (Journal of IFAC)
Nonlinear control design: geometric, adaptive and robust
Nonlinear control design: geometric, adaptive and robust
Adaptive Control
Neuro-Adaptive Output Feedback Control for a Class of Nonlinear Non-Minimum Phase Systems
Journal of Intelligent and Robotic Systems
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
Model Approximation for Discrete-Time State-Delay Systems in the T–S Fuzzy Framework
IEEE Transactions on Fuzzy Systems
Automatica (Journal of IFAC)
Adaptive output feedback control of nonlinear systems using neural networks
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
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This paper presents a robust adaptive control method based on neural networks for flexible link manipulators which is a nonlinear non-minimum phase system. The development of the control method comprises of two steps First, an appropriate reference signal is designed such that the internal dynamic subsystem become input-to-state practical stable. Then an output feedback control, which does not rely on the state estimation, is designed such that the output of system asymptotically tracks this reference signal. This controller is comprised of a dynamic linear controller, an adaptive neural network and a discontinuous robustifying term. Stability of the overall system is proved using the small gain theorem.