ISSN:
1433-3058
Keywords:
Keywords:Chemotaxis; Input/output linearisation; Linear splines; Nonlinear systems; Optimal control; Self organising maps
Source:
Springer Online Journal Archives 1860-2000
Topics:
Computer Science
,
Mathematics
Notes:
Two applications of Self Organising Map (SOM) networks in the context of nonlinear control are introduced, one in approximate feedback linearisation and the second in optimal control. It is shown that a modified SOM can be used to approximately Input/Output (I/O) linearise and to control nonlinear systems using a combination of the SOM learning algorithm, and a biologically inspired optimisation algorithm known as chemotaxis. A proof to guarantee the stability of the closed loop during the training of the network and the operation of the whole system is included. The results are illustrated with simulations of a single link manipulator.
Type of Medium:
Electronic Resource
URL:
http://dx.doi.org/10.1007/s005210070022
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