Adaptive Feedback Linearization Using Efficient Neural Networks

@article{Yesildirek2001AdaptiveFL,
  title={Adaptive Feedback Linearization Using Efficient Neural Networks},
  author={Aydin Yesildirek and Frank L. Lewis},
  journal={Journal of Intelligent and Robotic Systems},
  year={2001},
  volume={31},
  pages={253-281}
}
For a class of single-input, single-output, continuous-time nonlinear systems, a feedback linearizing neural network (NN) controller is presented. Control action is used to achieve tracking performance. The controller is composed of a robustifying term and two neural networks adapted online to linearize the system by approximating two nonlinear functions. A stability proof is given in the sense of Lyapunov. No off-line weight learning phase is needed and initialization of the network weights is… CONTINUE READING
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