Title

Design a New Intelligent Control for a Class of Nonlinear Systems

Document Type

Conference Proceeding

Publication Date

10-1-2019

Publication Title

Proceedings - 2019 6th International Conference on Control, Instrumentation and Automation, ICCIA 2019

DOI

10.1109/ICCIA49288.2019.9030868

Keywords

Backstepping Method, Input Saturation Constraint, Nonlinear Systems, Radial Basis Function Neural Networks (RBFNN).

Abstract

© 2019 IEEE. This paper presents a new method based on computational intelligence for precise control of a class of nonlinear systems. In this method, the Radial Basis Function Neural Networks (RBFNN) is used to approximate the uncertain functions in the system dynamics. In addition, a constraint is considered on the input. The Backstepping method is used for improving the overall accuracy of the control process. To evaluate the performance of the proposed method, a single-link robot arm with nonlinear dynamics and input saturation constraint is investigated. The simulation results show the performance of the proposed method.

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