Doctoral Dissertations
Abstract
"Online trained neural networks have become popular in recent years in the design of robust and adaptive controllers for dynamic systems with uncertainties due to their universal function approximation capabilities. This research explores the application of online neural networks for the design of model following controllers and for dynamic reoptimization of a Single Network Adaptive Critic (SNAC) optimal controller. Model following controllers for a general class of nonlinear systems with unknown uncertainties in their modeling equations have been developed in this research. A desirable characteristic of the model following controller scheme elaborated in this work is that it can be used in conjunction with any known control design technique. This research also discusses a technique that dynamically re-optimizes a Single Network Adaptive Critic controller. The SNAC based optimal controller designed for the nominal plant model no more retains optimality in the presence of uncertainties/unmodeled dynamics that may creep up in the system equations during operation. This necessitates the application of online function approximating neural networks that can help in SNAC reoptimization. Neural network weight update rules for continuous and discrete time systems have been derived using Lyapunov theory that guarantees both the stability of error dynamics and boundedness of the neural network weights. Detailed proofs and numerical simulations of the online weight update rules on various engineering problems have been provided in this document"--Abstract, page iii.
Advisor(s)
Balakrishnan, S. N.
Committee Member(s)
Krishnamurthy, K.
Landers, Robert G.
Midha, A. (Ashok)
Wunsch, Donald C.
Department(s)
Mechanical and Aerospace Engineering
Degree Name
Ph. D. in Mechanical Engineering
Sponsor(s)
National Science Foundation (U.S.)
University of Missouri--Rolla. Department of Mechanical and Aerospace Engineering
Publisher
University of Missouri--Rolla
Publication Date
Fall 2006
Pagination
ix, 114 pages
Note about bibliography
Includes bibliographical references (pages 109-113).
Rights
© 2006 Nishant Unnikrishnan, All rights reserved.
Document Type
Dissertation - Restricted Access
File Type
text
Language
English
Subject Headings
Adaptive control systems -- Mathematical models
Mathematical optimization
Neural networks (Computer science)
Nonlinear control theory
Nonlinear systems -- Mathematical models
Thesis Number
T 9018
Print OCLC #
85846448
Electronic OCLC #
994220462
Link to Catalog Record
Electronic access to the full-text of this document is restricted to Missouri S&T users. Otherwise, request this publication directly from Missouri S&T Library or contact your local library. http://merlin.lib.umsystem.edu/record=b5795256~S5
Recommended Citation
Unnikrishnan, Nishant, "Neural network based robust nonlinear control" (2006). Doctoral Dissertations. 1670.
https://scholarsmine.mst.edu/doctoral_dissertations/1670
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