Please use this identifier to cite or link to this item: https://doi.org/10.1109/ACC.1998.703568
Title: A direct approach to adaptive controller design and its application to inverted pendulum tracking
Authors: Ge, S.S. 
Hang, C.C. 
Zhang, T.
Issue Date: 1998
Source: Ge, S.S.,Hang, C.C.,Zhang, T. (1998). A direct approach to adaptive controller design and its application to inverted pendulum tracking. Proceedings of the American Control Conference 2 : 1043-1047. ScholarBank@NUS Repository. https://doi.org/10.1109/ACC.1998.703568
Abstract: This paper considers the direct adaptive control of a class nonlinear systems using multilayer neural networks (MNNs). The proposed method avoids the possible singularity problem of the controller usually met in adaptive controller design. Combining with sliding mode control strategy, the proposed controller guarantees the global stability of the closed-loop system and the tracking error converging to zero asymptotically. The controller is applied to an inverted pendulum control to show its effectiveness. © 1998 AACC.
Source Title: Proceedings of the American Control Conference
URI: http://scholarbank.nus.edu.sg/handle/10635/72437
ISBN: 0780345304
ISSN: 07431619
DOI: 10.1109/ACC.1998.703568
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