US Patent:
20050137724, Jun 23, 2005
Inventors:
Naira Hovakimyan - Blacksburg VA, US
Anthony Calise - Atlanta GA, US
Venkatesh Madyastha - Atlanta GA, US
International Classification:
G06G007/00
G06F015/18
G05B013/02
US Classification:
700048000, 706016000, 706026000
Abstract:
A disclosed apparatus comprises an adaptive observer that has an adaptive element to augment a linear observer to enhance its ability to control a nonlinear system. The adaptive element comprises a first, and optionally a second, nonlinearly parameterized neural network unit, the inputs and output layer weights of which can be adapted on line. The adaptive observer generates the neural network units' teaching signal by an additional linear error observer of the nominal system's error dynamics. The adaptive observer has the ability to track an observed system in the presence of unmodeled dynamics and disturbances. The adaptive observer comprises a delay element incorporated in the adaptive element in order to provide delayed values of an actual output signal and a control signal to the neural network units.