Journal
NEUROCOMPUTING
Volume 74, Issue 16, Pages 2582-2590Publisher
ELSEVIER
DOI: 10.1016/j.neucom.2010.11.029
Keywords
Single-hidden layer feedforward network; Extreme learning machine; Sliding mode controller
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Funding
- National Natural Science Foundation of China [61004055]
- Shaanxi Provincial Natural Science Foundation of China [2009JQ8003]
- Scientific Research Plan for New Teachers, Xi'an Jiaotong University
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The paper presents an indirect adaptive neural control scheme for a general high-order nonlinear continuous system. In the proposed scheme a neural controller is constructed based on the single-hidden layer feedforward network (SLFN) for approximating the unknown nonlinearities of dynamic systems. A sliding mode controller is also incorporated to compensate for the modelling errors of SLFN. The parameters of the SLFN are modified using the recently proposed neural algorithm named extreme learning machine (ELM), where the parameters of the hidden nodes are assigned randomly. However different from the original ELM algorithm, the output weights are updated based on the Lyapunov synthesis approach to guarantee the stability of the overall control system, even in the presence of modelling errors which are offset using the sliding mode controller. Finally the proposed adaptive neural controller is applied to control the inverted pendulum system with two different reference trajectories. The simulation results demonstrate that good tracking performance is achieved by the proposed control scheme. (C) 2011 Elsevier B.V. All rights reserved.
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