Adaptive tracking control of a class of nonlinear systems using CMAC network

DOI10.1016/0016-0032(96)00055-5zbMath0858.93032OpenAlexW2074410155MaRDI QIDQ2564846

Jer-Guang Hsieh, Teh-Lu Liao, Jui-Hong Horng

Publication date: 25 March 1997

Published in: Journal of the Franklin Institute (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/0016-0032(96)00055-5

zbMATH Keywords

adaptive controlnonlinear systemsoutput trackingrobotic manipulatorsliding controlLyapunov approachstructured uncertaintycerebellar model articulation controller networkfeedforward compansation

Mathematics Subject Classification ID

Neural networks for/in biological studies, artificial life and related topics (92B20) Design techniques (robust design, computer-aided design, etc.) (93B51) Adaptive control/observation systems (93C40) Variable structure systems (93B12)

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Cites Work

• Nonlinear control systems: An introduction
• Neural networks for control systems - a survey
• Adaptive control of non-linear continuous-time systems using neural networks—general relative degree and MIMO cases
• Adaptive control of linearizable systems
• Globally stable robust tracking of nonlinear systems using variable structure control and with an application to a robotic manipulator
• A New Approach to Manipulator Control: The Cerebellar Model Articulation Controller (CMAC)
• Direct adaptive output tracking control using multilayered neural networks
• Indirect techniques for adaptive input-output linearization of non-linear systems
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