Please use this identifier to cite or link to this item:
|Title:||Uniform adaptive neural control for switched underactuated systems|
|Source:||Han, T.-T.,Shuzhi, S.G.,Tong, H.L. (2008). Uniform adaptive neural control for switched underactuated systems. IEEE International Symposium on Intelligent Control - Proceedings : 1103-1108. ScholarBank@NUS Repository. https://doi.org/10.1109/ISIC.2008.4635973|
|Abstract:||This paper presents an adaptive neural control strategy for output tracking of switched underactuated systems. To deal with sudden changes in control gains at switching times, we introduce gain characterizations to derive a smooth and unknown control. Due to these sudden changes, we present a discontinuous adaptive neural control and its smooth approximation so that adaptive neural control is possible for switched systems. The difficulty associated with increments in Lyapunov functions of uncontrolled zero-dynamics is overcome by utilizing a relation between the persistent dwell-time and the decreasing rates of these functions. In this way, the resulting closed-loop system satisfies conditions of a recently introduced stability theorem for ISpS of persistent dwell-time switched systems, and hence its stability follows. ©2008 IEEE.|
|Source Title:||IEEE International Symposium on Intelligent Control - Proceedings|
|Appears in Collections:||Staff Publications|
Show full item record
Files in This Item:
There are no files associated with this item.
checked on Dec 11, 2017
checked on Dec 16, 2017
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.