Real-time parallel adaptive neural network control for nonlinear servomechanisms-an approach using direct adaptive techniques

Abstract

In this paper, a parallel adaptive neural network control system applicable to nonlinear dynamical systems of the type commonly encountered in many practical position control servomechanisms is developed. The controller is based on the use of direct adaptive techniques and an approach of using an additional parallel neural network to provide adaptive enhancements to a basic fixed neural network-based nonlinear controller. Properties of the proposed new controller are discussed in the paper and it is shown that if Gaussian radial basis function networks are used for the additional parallel neural network, uniformly stable adaptation is assured and asymptotic tracking of the position reference signal is achieved. The effectiveness of the proposed adaptive neural network control system is demonstrated in real-time implementation experiments for position control in a servomechanism with asymmetrical loading and changes in the load. © 1993.