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2007

Decoupled control using neural network-based sliding-mode controller for nonlinear systems

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Decoupled control using neural network-based sliding-mode controller for nonlinear systems
In this paper, adaptive neural network sliding-mode controller design approach with decoupled method is proposed. The decoupled method provides a simple way to achieve asymptotic stability for a class of fourth-order nonlinear system. The adaptive neural sliding mode control system is comprised of neural network (NN) and a compensation controller. The NN is the main tracking controller, which is used to approximate an ideal computational controller. The compensation controller is designed to compensate for the difference between the ideal computational controller and the neural controller. An adaptive methodology is derived to update weight parts of the NN. Using this approach, the response of system will converge faster than that of previous reports. The simulation results for ball-beam system and cart-pole system are presented to demonstrate the effectiveness and robustness of the method.
Lon-Chen Hung, Hung-Yuan Chung
Added 14 Dec 2010
Updated 14 Dec 2010
Type Journal
Year 2007
Where ESWA
Authors Lon-Chen Hung, Hung-Yuan Chung
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