Cited by 102Adaptive Control of Nonlinear SystemsNeural Networks and ApplicationsControl Systems and Identification

Diagonal recurrent neural network based adaptive control of nonlinear dynamical systems using lyapunov stability criterion

Kumar, Rajesh, Srivastava, Smriti, Gupta, J.R.P.·2017·ISA Transactions

Abstract

In this paper adaptive control of nonlinear dynamical systems using diagonal recurrent neural network (DRNN) is proposed. The structure of DRNN is a modification of fully connected recurrent neural network (FCRNN). Presence of self-recurrent neurons in the hidden layer of DRNN gives it an ability to capture the dynamic behaviour of the nonlinear plant under consideration (to be controlled). To ensure stability, update rules are developed using lyapunov stability criterion. These rules are then used for adjusting the various parameters of DRNN. The responses of plants obtained with DRNN are compared with those obtained when multi-layer feed forward neural network (MLFFNN) is used as a controller. Also, in example 4, FCRNN is also investigated and compared with DRNN and MLFFNN. Robustness of the proposed control scheme is also tested against parameter variations and disturbance signals. Four simulation examples including one-link robotic manipulator and inverted pendulum are considered on which the proposed controller is applied. The results so obtained show the superiority of DRNN over MLFFNN as a controller.

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Crossref · 10.1016/j.isatra.2017.01.022

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Authors
Kumar, R., Srivastava, S., & Gupta, J. R. P.
Affiliations
Netaji Subhas University of Technology (IN)
Corresponding author
Kumar, Rajesh
Venue
ISA Transactions
Publisher
Elsevier BV
Published
2017-03
Volume
67
Pages
407-427
ISSN
0019-0578 (ISSN-L)
OpenAlex
W2580486137
Cited by
102
References
61
Citations by year
2026: 12 · 2025: 18 · 2024: 18 · 2023: 6 · 2022: 13 · 2021: 5 · 2020: 9 · 2019: 13 · 2018: 6 · 2017: 2
FWCI
5.15
Type
journal article
Language
en
Open access
closed
Locations
  • ISA Transactions (publishedVersion)
  • PubMed (publishedVersion)
Topics
  • Physical Sciences › Engineering › Control and Systems Engineering › Adaptive Control of Nonlinear Systems
  • Physical Sciences › Computer Science › Artificial Intelligence › Neural Networks and Applications
  • Physical Sciences › Engineering › Control and Systems Engineering › Control Systems and Identification
Keywords
diagonal recurrent neural network, adaptive control, nonlinear dynamical systems, Lyapunov stability criterion, inverted pendulum

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