Simple Adaptive Control for MIMO Nonlinear Continuous-Time Systems Using Neural Networks

Abstract

This paper presents a method of continuous-time SAC (simple adaptive control) for MIMO (multi-input multi-output) nonlinear systems using neural networks. The control input is given by the sum of the output of the simple adaptive controller and the output of the neural network. The neural network is used to compensate the nonlinearity of plant dynamics that is not taken into consideration in the usual SAC. The role of the neural network is to construct a linearized model by minimizing the output error caused by nonlinearities in the control systems.