Gaussian Networks for Direct Adaptive Control

@article{Sanner1991GaussianNF,
  title={Gaussian Networks for Direct Adaptive Control},
  author={Robert M. Sanner and Jean-Jacques E. Slotine},
  journal={1991 American Control Conference},
  year={1991},
  pages={2153-2159}
}
A direct adaptive tracking control architecture is proposed and evaluated for a class of continuous-time nonlinear dynamic systems for which an explicit linear parameterization of the uncertainty in the dynamics is either unknown or impossible. The architecture employs a network of gausian radial basis functions to adaptively compensate for the plant nonlinearities. Under mild assumptions about the degree of smoothness exhibited by the nonlinear functions, the algorithm is proven to be stable… CONTINUE READING
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