RBF neural network adaptive backstepping controllers for MIMO nonaffine nonlinear systems

Wei Yen Wang, Chin Ming Hong, Ming Feng Kuo, Yih Guang Leu, Tsu Tian Lee

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

This paper proposes a radial basis function neural network adaptive backstepping controller (RBFNN-ABC) for multiple-input multiple-output (MIMO) nonlinear systems in block-triangular form. The control scheme incorporates the adaptive neural backstepping design technique with a first-order filter at each step of the backstepping design to avoid the higher-order derivative problem, which is generated by the backstepping design. This problem may create an unpredictable and unfavorable influence on control performance because higher-order derivative term errors are introduced into the neural approximation model. Finally, simulation results demonstrate that the output tracking error between the plant output and the desired reference can be made arbitrarily small.

Original languageEnglish
Title of host publicationProceedings 2009 IEEE International Conference on Systems, Man and Cybernetics, SMC 2009
Pages4946-4951
Number of pages6
DOIs
Publication statusPublished - 2009
Event2009 IEEE International Conference on Systems, Man and Cybernetics, SMC 2009 - San Antonio, TX, United States
Duration: 2009 Oct 112009 Oct 14

Other

Other2009 IEEE International Conference on Systems, Man and Cybernetics, SMC 2009
CountryUnited States
CitySan Antonio, TX
Period09/10/1109/10/14

Keywords

  • Adaptive
  • Backstepping
  • MIMO nonlinear systems
  • Radial basis function (RBF) neural networks (NNs)

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Human-Computer Interaction

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  • Cite this

    Wang, W. Y., Hong, C. M., Kuo, M. F., Leu, Y. G., & Lee, T. T. (2009). RBF neural network adaptive backstepping controllers for MIMO nonaffine nonlinear systems. In Proceedings 2009 IEEE International Conference on Systems, Man and Cybernetics, SMC 2009 (pp. 4946-4951). [5346245] https://doi.org/10.1109/ICSMC.2009.5346245