A recurrent neural network for global asymptotic tracking control of disturbed nonlinear systems

Danchi Jiang, Jun Wang

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

In this paper we present a recurrent neural network for global asymptotic tracking control of discrete-time time-varying nonlinear affine systems with disturbances. The objective is to control the system so that its output can track, from any initial point, an exogenous reference output generated by a known time-varying dynamics. First, we extend the dissipative inequality to a composite system combining the original system and the exogenous reference system. This composite system is not required to have an equilibrium point. Then, by choosing an appropriate time-varying quadratic storage function, the extended dissipative inequality leads to a group of linear matrix inequalities. This group of linear matrix inequalities is mapped to several convex optimization problems. To solve these convex optimization problems, a gradient flow system is developed. In addition, an augmented gradient flow system is carefully proposed to avoid the complicated computation of matrix inverses. A recurrent neural network is designed to realize this augmented gradient flow. At each time step, the recurrent neural network generates a desired control input based on the present state and the system model. The effectiveness and characteristics of the proposed neural controller are demonstrated by simulation results.

Original languageEnglish
Title of host publicationProceedings of the 1998 American Control Conference, ACC 1998
Pages985-989
Number of pages5
DOIs
Publication statusPublished - 1998
Externally publishedYes
Event1998 American Control Conference, ACC 1998 - Philadelphia, PA, United States
Duration: 24 Jun 199826 Jun 1998

Publication series

NameProceedings of the American Control Conference
Volume2
ISSN (Print)0743-1619

Conference

Conference1998 American Control Conference, ACC 1998
Country/TerritoryUnited States
CityPhiladelphia, PA
Period24/06/9826/06/98

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