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|Title:||A direct approach to adaptive controller design and its application to inverted pendulum tracking||Authors:||Ge, S.S.
|Issue Date:||1998||Citation:||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|
|Appears in Collections:||Staff Publications|
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