- Ferrari, Silvia and Stengel, Robert F., An adaptive critic global controller,
Proceedings of the American Control Conference, vol. 4
pp. 2665 - 2670 [ACC.2002.1025189] .
(last updated on 2007/04/10)
A nonlinear control system comprising a network of networks is taught using a two-phase learning procedure realized through novel techniques for initialization, on-line training, and adaptive critic design. The neural networks are initialized algebraically by observing that the gradients of the networks must equal corresponding linear gain matrices at chosen operating points. On-line learning is based on a dual heuristic adaptive critic architecture that improves control for large, coupled motions by accounting for plant dynamics and nonlinear effects. The result is an adaptive controller that is as conservative as the linear designs and as effective as the global controller. The design method is implemented to control the full six-degree-of-freedom simulation of a business jet aircraft.
Nonlinear control systems;Control system synthesis;Neural networks;Algebra;Heuristic methods;Motion control;Dynamics;Computer simulation;Degrees of freedom (mechanics);Dynamic programming;