Abstract
In this paper, based on Lyapunov stability theory and Backstepping technique, a novel direct robust adaptive neural network (NN) controller is proposed for double inverted pendulums (DIPs). By incorporating dynamic surface control (DSC) technique into a neural network based adaptive control design framework, the control design is achieved. The problem of “explosion of complexity” inherent in the conventional backstepping method is avoided, and the controller singularity problem is removed completely by utilizing a special property of the affine term. In addition, it is proved that all the signals in the closed-loop system are bounded and the tracking error converges to a small neighborhood of the origin. Finally, simulation results for the trajectory tracking of the DIPs are given to demonstrate the effectiveness of the proposed scheme.
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© 2012 Springer-Verlag Berlin Heidelberg
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Yang, W., Tao, Y., Li, T. (2012). Direct Robust Adaptive NN Tracking Control for Double Inverted Pendulums. In: Huang, T., Zeng, Z., Li, C., Leung, C.S. (eds) Neural Information Processing. ICONIP 2012. Lecture Notes in Computer Science, vol 7667. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-34500-5_51
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DOI: https://doi.org/10.1007/978-3-642-34500-5_51
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-34499-2
Online ISBN: 978-3-642-34500-5
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