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Article
Event-Based Neural Network Approximation and Control of Uncertain Nonlinear Continuous-Time Systems
Proceedings of the 2015 American Control Conference (2015, Chicago, IL)
  • Avimanyu Sahoo
  • Hao Xu
  • Jagannathan Sarangapani, Missouri University of Science and Technology
Abstract

This paper presents a novel event-based adaptive control of uncertain nonlinear continuous-time systems. An adaptive model by using two linearly parameterized neural networks (NNs) is designed to approximate the unknown internal dynamics of the nonlinear system with event sampled state vector. The estimated state vector and the dynamics from the adaptive model are subsequently used to design the control law. Novel NN weight update laws are proposed in the context of event-based availability of state vector wherein the NN weights are updated once at every aperiodic sampling instant unlike the traditional periodically sampled adaptive NN based control. A positive lower bound on the inter-sample times is shown. The boundedness of the NN weight estimation errors and system state vector are demonstrated by representing the event sampled closed-loop system as a nonlinear impulsive dynamical system and by using an adaptive trigger condition. Finally, simulation results are included to show the performance of the proposed approach.

Meeting Name
2015 American Control Conference, ACC 2015 (2015: Jul. 1-3, Chicago, IL)
Department(s)
Electrical and Computer Engineering
Comments
This work was supported in part by NSF ECCS#1406533 and in part by Intelligent Systems Center, Missouri University of Science and Technology, Rolla, MO.
Keywords and Phrases
  • Adaptive control systems,
  • Closed loop systems,
  • Dynamical systems,
  • Nonlinear systems,
  • Uncertainty analysis,
  • Vectors,
  • Adaptive modeling,
  • Impulsive dynamical system,
  • Linearly parameterized neural networks,
  • Neural network approximation,
  • Nonlinear continuous-time systems,
  • Sampling instants,
  • Trigger conditions,
  • Weight estimation,
  • Continuous time systems
International Standard Book Number (ISBN)
978-1-4799-8684-2
Document Type
Article - Conference proceedings
Document Version
Citation
File Type
text
Language(s)
English
Rights
© 2015 American Automatic Control Council, All rights reserved.
Publication Date
7-1-2015
Publication Date
01 Jul 2015
Citation Information
Avimanyu Sahoo, Hao Xu and Jagannathan Sarangapani. "Event-Based Neural Network Approximation and Control of Uncertain Nonlinear Continuous-Time Systems" Proceedings of the 2015 American Control Conference (2015, Chicago, IL) (2015) p. 1567 - 1572 ISSN: 0743-1619; 2378-5861
Available at: http://works.bepress.com/jagannathan-sarangapani/214/