Adaptive sliding mode control using RBF neural network for nonlinear system | |
Zhang, Ming-Guang; Chen, Yu-Wu; Wang, Peng; Wang, Zhao-Gang | |
2008 | |
会议日期 | July 12, 2008 - July 15, 2008 |
会议地点 | Kunming, China |
关键词 | Backpropagation Closed loop systems Controllers Feedback linearization Learning systems Nonlinear systems Pendulums Personal computing Radial basis function networks Sliding mode control Uncertainty analysis Adaptive Adaptive sliding mode control Adaptive sliding mode controller Feedback linearization methods Inverted pendulum Multi-layer feed-forward networks Radial basis function neural networks RBF Neural Network |
卷号 | 4 |
DOI | 10.1109/ICMLC.2008.4620709 |
页码 | 1860-1865 |
英文摘要 | A novel adaptive sliding mode controller based on Radial Basis Function neural network (RBFNN) is proposed in this paper for the nonlinear systems with uncertainties using feedback linearization method. An adaptive rule is utilized to on-line adjusting the weights of RBFNN, which is used to compute the equivalent control. Adaptive training algorithm was derived in the sense of Lyapunov stability analysis, so that the stability of the closed-loop system can be guaranteed even in the case of uncertainty. Using the RBFNN, instead of multilayer feed forward network trained with back propagation, works out shorter reaching time. Chattering problem of SMC is substantially derived in the proposed controller. Simulation Jesuits show that the position hacking responses closely follow the desired trajectory occurrence of the disturbances. Also, simulation results demonstrate that the proposed controller is a stable control scheme for the inverted pendulum trajectory hacking applications and has strong rubu stness. ©2008 IEEE. |
会议录 | Proceedings of the 7th International Conference on Machine Learning and Cybernetics, ICMLC
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会议录出版者 | IEEE Computer Society |
语种 | 英语 |
内容类型 | 会议论文 |
源URL | [http://ir.lut.edu.cn/handle/2XXMBERH/116894] ![]() |
专题 | 电气工程与信息工程学院 |
作者单位 | School of Electrical and Information Engineering, Lanzhou University of Technology, Lanzhou, 730050, China |
推荐引用方式 GB/T 7714 | Zhang, Ming-Guang,Chen, Yu-Wu,Wang, Peng,et al. Adaptive sliding mode control using RBF neural network for nonlinear system[C]. 见:. Kunming, China. July 12, 2008 - July 15, 2008. |
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