教師資料查詢 | 類別: 期刊論文 | 教師: 許駿飛 Hsu, Chun-Fei (瀏覽個人網頁)

標題:Adaptive PI Hermite neural control for MIMO uncertain nonlinear systems
學年101
學期2
出版(發表)日期2013/05/01
作品名稱Adaptive PI Hermite neural control for MIMO uncertain nonlinear systems
作品名稱(其他語言)
著者Hsu, Chun-Fei
單位淡江大學電機工程學系
出版者Amsterdam: Elsevier BV
著錄名稱、卷期、頁數Applied Soft Computing 13(5), pp.2569–2576
摘要This paper presents an adaptive PI Hermite neural control (APIHNC) system for multi-input multi-output (MIMO) uncertain nonlinear systems. The proposed APIHNC system is composed of a neural controller and a robust compensator. The neural controller uses a three-layer Hermite neural network (HNN) to online mimic an ideal controller and the robust compensator is designed to eliminate the effect of the approximation error introduced by the neural controller upon the system stability in the Lyapunov sense. Moreover, a proportional–integral learning algorithm is derived to speed up the convergence of the tracking error. Finally, the proposed APIHNC system is applied to an inverted double pendulums and a two-link robotic manipulator. Simulation results verify that the proposed APIHNC system can achieve high-precision tracking performance. It should be emphasized that the proposed APIHNC system is clearly and easily used for real-time applications.
關鍵字Hermite neural network;Adaptive control;Neural control;Pendulum;Robotic manipulator
語言英文
ISSN1872-9681
期刊性質國外
收錄於SCI;
產學合作
通訊作者
審稿制度
國別荷蘭
公開徵稿
出版型式,電子版,紙本
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