Smooth switching adaptive model reference control of robots using neural networks

2007 ◽  
Author(s):  
Jeng-Tze Huang
Keyword(s):  
Neural Networks ◽  
Adaptive Model ◽  
Model Reference ◽  
Model Reference Control ◽  
Smooth Switching

MODEL REFERENCE DIRECT ADAPTIVE CONTROL OF NONLINEAR PLANTS USING NEURAL NETWORKS

1994 ◽  
Vol 05 (01) ◽  
pp. 77-82 ◽  
Author(s):  
MOHAMMAD BAHRAMI ◽  
KEITH E. TAIT
Keyword(s):  
Neural Networks ◽  
Feedforward Neural Networks ◽  
Model Reference ◽  
Adaptive Controllers ◽  
Direct Adaptive Control ◽  
Neural Network Controller ◽  
Model Reference Control ◽  
Network Controller ◽  
Identification Stage ◽  
Nonlinear Plants

A learning scheme for multilayer feedforward neural networks used as direct adaptive controllers of nonlinear plants is suggested. This scheme is a supervised steepest descent one that does not require backpropagation of the error. Using a neural network controller trained with this method does not require the identification stage and this makes it superior to the other methodologies. Methods for using neural networks in plant control suggested in the literature are discussed and compared with the proposed system. The structure of the network and the training method used are explained. Simulations based on model reference control of some nonlinear plants show satisfactory performance.

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