Direct Adaptive Control of Nonlinear Systems Using Radial Basis Function Network
M. Bahita, K. Belarbi
Laboratoire d’automatique et de robotique, University of Constantine,
Route de Ain el Bey, Constantine, Algeria

Abstract:

In this paper we propose a direct adaptive control scheme for a class of nonlinear systems. The architecture is based on radial basis functions, RBF, network to construct the adaptive controller. The parameters of the adaptive controller are changed according to a law derived using Lyapunov stability theory and the centers of the RBF are adapted using the k-means algorithm. Asymptotic stability is established with the tracking errors converging to a neighborhood of the origin. Computer simulations are presented to show the validity and the performance of the proposed method.

Keywords: Radial Basis Function network, adaptive control, nonlinear systems.

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