Feedback-error learning scheme using recurrent neural networks for nonlinear dynamic systems

Abstract

The use of dynamic neural networks to model and control dynamic systems is of great importance in the control paradigm. The intent of this paper is to use one such dynamic neural structure, namely the recurrent neural network, to drive unknown nonlinear systems to follow the desired trajectories. The learning scheme employed for this task consists of a conventional proportional-plus-derivative (PD) controller in the feedback loop and the recurrent neural network in the feedforward path. Once the convergence is achieved, the recurrent neural network approximates the inverse-dynamics model of the plant under control. The PD controller, on the other hand, guarantees the stability of the learning scheme. The effectiveness of this learning scheme is demonstrated through computer simulations and an experimental setup that demonstrates the balancing of a two-wheeled robot.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>