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

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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

DOI 10.1016/j.isatra.2017.01.022

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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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Authors: Kumar, R., Srivastava, S., & Gupta, J. R. P.
Affiliations: Netaji Subhas University of Technology (IN)
Corresponding author: Kumar, Rajesh
ORCID: Kumar, Rajesh
Srivastava, Smriti
Gupta, J.R.P.
Venue: ISA Transactions
Publisher: Elsevier BV
Published: 2017-03
Volume: 67
Pages: 407-427
ISSN: 0019-0578 (ISSN-L)
DOI: 10.1016/j.isatra.2017.01.022
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
Licence: www.elsevier.com/tdm/userlicense/1.0/ (tdm)
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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Diagonal recurrent neural network based adaptive control of nonlinear dynamical systems using lyapunov stability criterion

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