V ol. 16　 N o .

1 　　　　　　　　　　　　 CHIN ESE JO U RN A L OF A ERO N A U TICS　　　　　　　　　　　　 February 2003

∞
Adaptive H Control of Nonl inear Systems with Neural Networks

JIANG Chang -sheng , CHEN Mou

( A utomation College, N anj ing University of A eronautics and A str onautics, N anj ing　210016, China)

Abstract: 　 T he discussion is devoted to the adaptiv e H ∞ control method based on RBF neur al net-
wor ks for uncertain nonlinear systems in this paper . T he controller consists of an equivalent controller
∞
and an H cont roller. T he RBF neural networ ks are used t o appr ox imate the no nlinear functions and
the approx imation erro rs of the neural netw or ks are used in the adaptive law to improve the perfor -
mance of the sy stems. T he H ∞ cont roller is desig ned for attenuating the influence of exter nal distur -
bance and neur al netw ork approx imation err ors. T he contro ller can not only g uar antee stability of the
nonlinear syst ems, but also attenuate the effect of the ex ternal dist ur bance and neural networ ks ap-
pro ximation er ror s to reach per formance indexes . F inally, an ex ample validates the effectiveness of
this m ethod.
∞
Key words: 　neur al networ ks; nonlinear sy stems; adaptive contro l; H contr ol
基于 RBF 神经网络的一类不确定非线性系统自适应 H 控制. 姜长生, 陈谋, 中国航空学报, 2003, ∞

16( 1) : 36- 41.

摘　要: 基于 RBF 神经网络 提出了一种 H ∞自 适应控制方法。控制器由等效 控制器和 H ∞
控制器
两部分组成。用 RBF 神经网络 逼近非线性函数, 并把逼近误差 引入到网络权值的 自适应律中用以
改善系统的动态性能。H ∞ 控制器用于减弱外部及神 经网络的逼近误差 对跟踪的影响。所设计的控
制器不仅保证了闭环系统的稳 定性, 而且使 外部干扰及神经网 络的逼近误差对跟 踪的影响减小到
给定的性能指标。最后给出的算例验证了该方法的有效性。
关键词: 神经网络; 非线性系统; 自适应控制; H ∞控制
文章编号: 1000-9361( 2003) 01-0036-06　　　中图分类号: V 245. 3　　　文献标识码: A

　 　 Cont rol of uncert ain nonlinear syst ems is an
active subject in t he modern cont rol area and t here
are a lot of research result s about t hem . Neural
netw orks( NN ) are w idely used t o cont rol nonlin-
ear syst em s, so a lot of control m et hods w ere pro-
[ 1-4]
posed . But most of them are control met hods of
single input and single out put ( SISO ) nonlinear
syst ems. T here are f ew control met hods of multi-
input and multi-out put ( MIMO ) uncertain nonlin-
ear syst em s. It is very significant t hat cont rol
methods of M IM O nonlinear systems are st udied .
Recently , com bining adaptive cont rol and ro-
bust control to control nonlinear syst em s has re-
ceived increasing att ention f or using both advan-
tages of t he adaptive control and robust control.
Ref. [ 5] has st udied a st able cont rol met hod about
MIM O nonlinear syst ems based on BP neural net-
w orks. But it does not consider ex ternal uncert ain-
ty and modeling error . Simultaneously , t he con-
troller lacks t he abilit y to diminish the dist urbance
and to counteract t he modeling error of the NN .
Ref. [ 6] has st udied a control met hod based on
fuzzy cont rol for multivariable nonlinear sy stems,
but t he dy namic perf ormance of a nonlinear system
is not g ood.
T his paper combines RBF neural net w orks
∞
w it h adaptive H Control to propose a new cont rol
method about M IM O nonlinear sy stems. T his
method divides the uncertaint y of a nonlinear sys-
tem into t w o part s. One is t he error of t he NN and
t he ot her is the ext ernal uncert aint y and m odeling
error . T he RBF neural net works are used t o ap-

Received dat e: 2002-06-25; R evision received dat e: 2002-11-20

Foundation item: N at ion N at ural Science Foundation of China( 60174045) ; Aeron aut ical Scien ce Foundation of China( 01D 52025)
A rt icle U RL: ht t p: / / ww w . hkx b. n et . cn/ cja/ 2003/ 01/ 0036/
© 1994-2010 China Academic Journal Electronic Publishing House. Open access under CC BY-NC-ND license. http://www.cnki.net
 ∞
February 2003 A dapt ive H Control of N onlinear Systems wit h N eural N et w ork s ・ 37・

w here f i ( x) = L i hi ( x) , i= 1, …, m; x= !
r - 1
proximate the nonlinear f unctions; t he approx i- ( Z) ;
r- 1
mate errors of the neural netw orks are used in t he g ij ( x) = L i j L i
hi ( x) , i, j = 1, …, m; d i ( x ) =
L h i ( x) , i= 1, …, m ; y = [ ∀1　 ∃1　…　 #1 ] . So
r T
adaptive law t o improv e performance of t he sys- i

∞
tems. T he H cont roller is desig ned for att enuat- Eq. ( 2) becomes
(r )
ing the ex t ernal dist urbance and neural net w orks y1 1 u1
approximation errors. T he designed controller can = f ( x) + G( x) + d( x) ( 3)
not only g uarantee stability of t he whole nonlinear y (r )
mm um
syst em , but also att enuate t he influence of t he ex- w here
ternal dist urbance and neural net w ork approx im a- g 11( x) … g 1m ( x)
tion errors t o reach a prescript level. G( x) = …
1　Problem F ormulation g m 1( x) … g m m ( x)
f 1( x) d 1 ( x)
Considering t he af fine uncertainty nonlinear
f ( x) = , d( x) =
syst em
f m ( x) d m ( x)
x= ( x) + ( x) u + ( x)
( 1) 　 　 Suppose t hat Eq. ( 3) sat isf ies t he follow ing
y = h( x)
T n assumpt ions[ 1-5] :
w here x= ( x 1　…　x n) ∈R ; ( x) = [ 1 ( x) 　…
B1: In a compact set , G( x) is nonsingular and
　 n ( x) ] T ∈ Rn are smoot h nonlinear vector f unc-
n×m has a bounded norm , and sat isf ies the follow ing
tions; ( x ) = [ ij ( x ) ] ∈ R is t he control gain
condit ion
matrix ; u∈R and ( x) = [ 1 ( x) 　…　 n ( x) ] T
m

n %G ( G( x) ) ≥ b > 0, x∈S ( 4)
∈R are smoot h nonlinear f unct ion v ect ors denot-
w here %G represents the smallest singular value of
ing the dist urbance and t he m odeling uncert ainties
of the syst em. t he m at rix G( x ) ; b is an arbit rary constant and S

Suppose t hat t he nonlinear syst em sat isf ies t he is a compact set .

[ 1-4] B2: f ( x) and d ( x) are sm oot h vector func-
follow ing assumpt ions :
Assumption: A1: T he relative deg ree of t he tions, and d( x) has bounds.

syst em is { r 1 , …, r m } , and r 1 + …+ r m = n; T he cont rol g oal is to desig n an adapt ation ro-

k k
A 2: L L h i ( x) = 0, L L hi ( x ) = 0, and k = bust neural net w ork controller such t hat t he out put
1, …, r i - 2, i= 1, …, m. y i of the nonlinear syst em and t he r i - 1 derivat ive

A 3: T he model error ( x ) has a cert ain ex- of the out put t rack the ref erence signal.
pression. 2　Design of Adaptive H ∞ Controller for
Choosing the coordinat e transf orm Z= ! ( x)
Nonlinear Systems Based on RBF
based on abov e assumptions, then t he nonlinear
Neural Netw orks
syst em can be t ransformed into a new st andard
form [ 6] Const ruct ing the cont roller
∀1 = ∀2 , …, ∀r 1- 1 = ∀r 1 u = uc + uh ( 5)
∀r 1 = f 1 ( x) + g 11 ( x) u1 + … + w here
g 1m ( x) u m + d 1 ( x) , uc = G!- 1 ( x\ wg ) [ - f!( x\ wf ) + &] ,
!- 1( x\ wg ) ua ( 6)
y 1 = ∀1 , … uh = - G
( 2) uc is t he equivalent cont roller ; uh is a com pensat ory
#1 = #2, …, #m - 1 = #m
controller which is used to overcome t he inf luence
#m = f m( x) + g m1 ( x) u1 + … + of t he compound disturbance and t o increase ro-
g mm ( x) um + d m ( x) bust ness.
y m = #1 w here u= [ u 1　…　u m] T , &= [ &1 　…　&m ] T

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 ・ 38・ JIA N G Ch ang -sheng , CHEN M ou CJA

! !
g 1 1( x\ wg11 ) … g 1m ( x\ wg 1m ) T he i-th subsyst em is as
G!( x\ wg ) = + ∋ir i ei + … + ∋i1ei = f!i ( x\ wf i ) -
(r ) ( r - 1)
… ei
i i

! !
g m 1( x\ wgm1 ) … g mm ( x\ wg mm ) f i ( x) + ( Gi u + u ia - d i ( x) ( 10)
! !
f!( x\ wf ) = [ f!1( x\ wf 1) , …, f!m ( x\ wf m ) ] w here 　( Gi = [ g i1 ( x \ wgi 1 ) - g i1 ( x) , …, g im ( x \
T

　　f!( x\ wf ) and G !( x\ wg ) are t he approximat ion wgi m ) - g im ( x) ]

to f ( x ) and G( x) , used by t he neural net w orks. Det erm ining eip = [ ei 　 … 　e(i r i- 1) ] T , so t he
Det erm ining above equation is w rit ten as
!
&1 = y + ∋1r 1 ( y
(r ) ( r - 1) ( r - 1)
1d1 1d1 - y 1 1 ) + … eip = Ai eip + Bi uia + Bi [ f i ( x) - f i ( x\ wf i ) +
+ ∋11( y 1d - y 1 ) ( Gi u - d i ( x) ] ( 11)
w here
&m = y (r )
mdm + ∋mr m ( y (r - 1)
m dm - y ( r - 1)
1m ) + … 0 1 0 … 0

+ ∋m 1( y m d - y m ) 0 0 1 … 0
Ai =
( 7)
- ∋i1 - ∋i2 … - ∋i(r i - 1) - ∋iri
w here ∋ij ( j = 1, …, r i ) sat isf ies the condit ion that
roots of hi ( s ) = s + ∋1ri s + …+ ∋i1 = 0 lie in t he
n n- 1 0

left plane . 0
Bi =
So Eq. ( 3) becomes
y (1r1 ) f 1( x) - f!1 ( x\ wf 1) 1
　　Now , t he design t ask is to find t he cont roller
= 　 +
(r )
y mm f m ( x) - f!m ( x\ wf m ) uia and the adaptive law of wf i and wgi j , j = 1, …, m.
Det erm ining
u1
!
( G( x) - G( x\ wg ) ) +
*
w = arg wmin
fi
∈)
sup
x∈u
f!i ( x\ wf i ) - f i ( x)
fi fi c

g!ij ( x\ wgi j ) - g ij ( x)
um *
w i j = arg w m∈)in
g sup
&1
x∈u
u1a d 1( x) g ij gi j c

- + 　 ( 8) ( 12)
&m um a d 2( x) w here ) f i = { wf i ∀ ‖ wf i ‖ ≤ M f i } , ) gi j = { wg ij ∀
　 　Determining ei = y i - y id , i = 1, …, m, then ‖wg ij ‖≤ M gi j } are t he valid f ield of t he parame-
Eq. ( 8) becomes ters; M f i and M g ij are designed parameters. T he
e ( r1 )
1 + ∋1r1 e ( r1 - 1)
1 + … + ∋11e1 definition of t he least approximation error of t he
　　　 = neural netw ork is
e (r )
mm + ∋1rm e + … + ∋m 1em
( r - 1)
mm
∗ni = ( f!i ( x\ w*f i ) - f i ( x) ) + ( Gi* u ( 13)
! w here 　 (Gi = [ g!i1 ( x \ wg i1 ) - g i1 ( x ) , …,
* *
f 1( x\ wf 1 ) - f 1 ( x)
g!im ( x\ wg ) - g im ( x) ]
*
　　　 + im

!
f m ( x\ wf m ) - f m ( x) So Eq. ( 11) becom es
u1 u1a d 1 ( x) eip = Aeip + Bi uia + Bi [ ( f!i ( x\ wf i ) - f!i ( x\ w*f i ) ) +
( G!( x\ wg ) - G( x) ) + - ( (Gi - (G*i ) u] + Bi [ ∗ni - d i ( x) ] ( 14)
um uma d m ( x) Suppose t hat f!i ( ・) and g!ij ( ・) are RBF neural
( 9) netw orks, and t hen
! !
f i ( x\ wf i ) = wf i ! i ( x) , g ij ( x\ wgij ) = wg ij ! ij ( x)
T T
　 　 F irst , one must design the adapt ive robust
control law of each subsy stem based on t he neural ( 15)
netw ork and t hen consider t he st abilit y of t he Moreov er, RBF neural netw orks have t he follow -
w hole system . ing form
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 ∞
February 2003 A dapt ive H Control of N onlinear Systems wit h N eural N et w ork s ・ 39・

m
3　P erform ance Analysis
yi = ∑w !
j= i
j j ( +) = wT ! ( +) ( 16)
T
w here w= [ w 1 　…　 w m ] is t he w eight value of T heorem 1　Considering the sy stem Eq. ( 3) ,
the neural netw orks; ! ( +) = [ #1 ( +) 　 … 　 t he control is defined by Eq. ( 5) . uc can be chosen
#m ( +) ] T , #( +) is t he base funct ion. So Eq. ( 14) as Eq . ( 6) and the param et er adaptation law can be
can be w rit ten as chosen as Eq. ( 19) and Eq. ( 20) . T hen
~ ! i ( x) + ~
eip = Ai eip + Bi uia + Bi [ w w i u] + Bi ∗i
T
fi
T
g
( 1) In the adaptive process, there are alw ays

( 17) ‖wf i ‖≤M f i , ‖wg ij ‖≤M g ij , ( 1≤i ≤m, 1≤j ≤

~ ~
w here　 ∗i = ∗ni - d i , wf i = wf i - wf i , wgi = [ ( wgi 1 -
* m) .
* * ( 2) F or t he given paramet er k and under t he
wgi 1 ) , …, ( wgim - wg im ) ] .
controller Eq. ( 5) , the approx imat ion error sat is-
and ∗i is t he compound disturbance.
∞ fies the follow ing H ∞ perform ance index
H cont roller can be w rit ten as T
1 1
∫e Qedt ≤ 2 e ( 0) pe( 0) +
T T
1 Ti i ip
uia = - B pe ( 18) 2 0
m
1 ~Tf i ( 0) ~
w here is t he design parameter. ∑ 2, w
i= 1 i
wf i ( 0) +
T he adapt ation law can be chosen as m m
1
- ,i eTip p i Bi ! i ( x) + −i ( ‖wf i ‖ - M f i ) , ∑∑ 2. ~w ~g ( 0) +
T
ij
g
ij
( 0) w ij
i= 1 j = 1
　　‖wf i ‖ ≤ M f , eip p i Bi wf i ! i ( x) > 0
T T
T
1 2
/ ∫∗ ∗ dt
T
wf i = ( 25)
P r1 [ ] , 2 0
T T
　　‖wf i ‖ = M f , eip p i Bi wf i ! i ( x) < 0
T T
w here e = [ e 1p 　 … 　 emp ] , Q= Diag ( Q1 　 … 　
( 19) Qm ) , ∗= [ ∗1　…　∗m ] T .
- .ij eip p i Bi ! ij ( x) + %ij ( ‖wg ij ‖ - M g ij ) ,
T [ 5, 6] 1 T
Proof 　( 1) Suppose V f i = 2 wf i wf i . When
　　‖wgi j ‖ ≤ M g ij , eip p i Bi wgi j ! ij ( x) > 0
T T
‖wf i ‖≤M f i , f rom the f irst equat ion of Eq. ( 19)
wgi j =
P r2 [ ] , and the first equat ion of Eq. ( 23) , it s derivative a-
　　‖wgi j ‖ = M g ij , e p i Bi w i j ! ij ( x) < 0
T T
ip g long t he system t raject ory is given by
m

∑, e p B w ! i ( x) +
T T
( 20) Vf = - i ip i i fi
i= 1
w here
wTf i −i ( ‖wf i ‖ - M f i ) < 0 ( 26)
e p i Bi wf i w ! ( x) T
ip
T
fi
P r 1 [ ] = - , e p i Bi ! i ( x) + ,i
T
i ip
‖wf i ‖
2 So ‖wf i ‖≤M f i holds.

( 21) When ‖wf i ‖= M f i , from t he second equa-

・
e ip p i Bi wgi j wg ij ! ( x)
T T
tion of Eq. ( 19) , V f = 0, namely ‖wf i ‖≤M f i .
P r 2 [ ] = - . e p i Bi ! ij ( x) + .ij
T
ij ip
‖wg ij ‖ 2 For any t ≥ 0, there is ‖wf i ‖ ≤M f i . One
( 22) can also prove ‖wf i ‖≤M f i for t≥0.
,i , .i are t he learning rates. ( 2) Determining
Det erm ining t he paramet ers −i and %ij as 1 T 1 Tf i ~f i
V i = 2 eip p i eip + 2,i ~
w w +
−i = i sgn( wf i ) , %ij = ij sgn( wg ij ) ( 23) m
1
∑ 2. ~w ~
T
　　 > 0 and > 0 are constant vect ors to be arbi- ij
gi j wgi j ( 27)
j= 1
trarily chosen , w hich are used to adjust the dy-
T
　　Choose V = V 1 + V 2 + …+ V m as a Lyapunov
namic performance. p i = p i > 0 is the solution of
function to calculate t he t im e derivat ive of V
the Riccati equation
V = V1 + V2 + … + Vm ( 28)
T 2 T ・
p i Ai + Ai p i + Qi p i Bi Bi p i + w here V i is g iven by
1 p i Bi BTi p i = 0, Qi > 0 ( 24) 1 T 1 T
2 V i = 2 eip p i e ip + 2 eip p i eip +
k

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 ・ 40・ JIA N G Ch ang -sheng , CHEN M ou CJA

m
1w ~Tf i ~ 1 ~Tg ~ 　　For the whole nonlinear sy stem, there is
,1
wf i + ∑.w ij
ij
wgi j ( 29)
1 T T 1
∫
j= 1
・ ・ e Qedt ≤ eT ( 0) pe( 0) +
2 0 2
For ~wf i = wf i , ~
wgij = wgi j , subst it ut ing Eqs. ( 17) , m m m
1w ~Tf i ( 0) w
~f i ( 0) + 1 ~Tg ( 0) ~
( 19) and Eq. ( 20) and Eq. ( 21) int o Eq. ( 29) ∑i= 1 2,i ∑∑ 2. w
i= 1 j = 1
ij
ij
wgi j ( 0) +
yields T
1 2
Vi = -
1 T
2
eip Qi e ip -
1 T
2k 2
eip p i Bi BTi p i eip + 2
/ ∫∗ ∗ dt
0
T
( 36)
∞
　　For the giv en parameter k , t he designed H
1 T T
( ∗i Bi p i eip + eTip pi Bi ∗ i ) + controller reaches ex pected performances.
2
1 T
( eip p i Bi ! i ( x) + i wf i ) ~
T T
wf i + 4　Sim ulation Study
,
m
T he dynam ics equat ions of t he robot are de-
∑( ( e
T
pi Bi ! Tij ( x) uj + 1 wTgi j ) ~
wgi j ) ( 30)
.ij
ip
j= 1 scribed by t he f ollowing dif ferent ial equat ions
q∃1
- 1
It is not dif ficult to prove that t he last tw o items in H 11 H 12 - hq2 - hq 1 - hq 2
the above formula are negat ive. ∃ =
q2 H 21 H 22 hq 1 0
It follow s f rom q1 H 11 H 12 - 1
&1 d1
1 T 1 T + + ( 37)
( ∗i - 2 eip p i Bi ) ( ∗i - 2 eip p i Bi ) ≥ 0 ( 31)
T T T
q2 H 21 H 22 &2 d2
/ /
w here　q1 and q 2 are position vect ors.
that
H 11 = a1 + 2a3cos( q 2 ) + 2a4 sin( q 2)
V i ≤- 1 e Tip Qi eip + 1 /2∗Ti ∗ ≤
H 12 = H 21 = a2 + a3cos( q 2) + a4sin( q2 )
2 2
1 T 1 2 - 2 H 22 = a2, h = a3sin( q 2) - a4cos( q 2)
- e ip Qi eip + / #∗i # ( 32)
2 2 w it h
w here -∗i is t he upper bound of t he compound dis- a1 = I 1 + m 1l2c 1 + I e + me lc2e + m e l21
turbance.
a2 = I e + me lc e, a3 = m el 1lc ecos( 0e )
2

L et ∋m in ( ・) denote t he smallest eigenvalue of

/#∗-i # a4 = m el 1lc esin( 0e ) , d 1 = 0. 5sin( q1 )
the matrix Qi . When ‖eip ‖> ∋m in ( Qi ) , then
d 2 = 0. 5sin( q 2 )
V i ≤- 1 ∋m in ( Qi ) ‖eip ‖2 + 1 /2 #∗ -i # 2 < 0 and
2 2
l1 = 1. 0, lc1 = 0. 5, m 1 = 1. 0, I 1 = 0. 12
( 33)
1
w hich implies lc e = 0. 6, 0e = , m e = 2. 0, I e = 0. 25
6
V= V 1 + V2 + … + Vm < 0
　　F rom t he formula Eq. ( 37) , one can see that
So the close loop nonlinear syst em is stable under t he f ormula Eq. ( 37) is ex act ly t he form of Eq.
the designed controller. ( 3) . T he same neural net w orks are used t o ap-
Int egrating Eq. ( 33) from t= 0 to t = T yields proximate f 1, f 2 , g 11 , g 12 ( g 21 ) , g 22 . T he hidden
1 T T
V i ( T ) - V i ( 0) ≤-
2 0 ∫
e ip Qi eip dt + layer of t he RBF netw ork has 15 ent ries. T he ini-
tializat ion conditions are
1 2 T Ti i
∫
2 / 0 ∗ ∗ dt ( 34) wg11 = wg 12 = wg 22 = 0. 5l; wf 1 = wf 2 = 0;
　　 Eq. ( 26) im plies V i ( T ) ≥0, and combined q 1( 0) = q 2 ( 0) = 0. 2, M f 1 = M f 2 = 10;
w it h Eq. ( 26) and Eq. ( 34) , it yields M f 1 = M f 2 = 10; M g11 = M g12 = M g 22 = 15;
1 T T 1 −1 = −2 = 2l; %11 = %12 = %22 = 1. 5l( l is unit
∫
2 0
eip Qi eip dt ≤ eTip ( 0) p i eip ( 0) +
2
m vector ) ; the learning rat es are ,1= ,2 = 0. 1, .11 =
1 ~wTf i ( 0) ~ 1 ~wTg ( 0) ~
2,i
wf i ( 0) + ∑j= 1 2.ij i j
wgij ( 0) + .12 = .22 = 0. 02;
1 2 T Fig. 1 and Fig. 2 present t ime plot s of k =
/ ∫∗ ∗ dt
T
i i ( 35)
2 0 0. 05, 0. 2, 0. 3 and corresponding = 0. 004, 0. 1,

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 ∞
February 2003 A dapt ive H
0. 2. F rom Figs. 1 and 2, one can see that t he st a-
bility t rack error w ill decrease w hen the k decreas-
es.
F ig . 1　 T rack erro r 1
F ig . 2　 T rack erro r 2
5　Conclusions
T he RBF neural netw orks combining adapt ive
control and robust cont rol are used to cont rol un-
cert ain M IM O nonlinear syst em s. A new adapt ive
law has been proposed in t his paper. T he approx i-
mation errors of the neural net works are used in
the adaptive law t o improve performance of t he
syst ems. T he simulation shows t hat t racking er-
rors w ill be very sm all if t he parameter k and m a-
trix Qi are correct ly chosen .
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Control of N onlinear Systems wit h N eural N et w ork s ・ 41・
References
[ 1] 　 Hunt K J, S barbaro D. N eural net w orks for non lin ear in-
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Biographies:
JIANG Chang-sheng　Born in 1942, he is doy en Pr ofesso r
of N anjing U niv er sit y of A eronautics and A str onautics,
docto ral advisor . His curr ent research field is aerocraft con-
trol.
CHEN Mou　Bor n in 1975, he r eceived M . S. fr om N an-
jing U niversity of A eronautics and A str onautics in 2001,
and t hen he became a student of N U A A study ing fo r P h.
D. in 2001. N ow his resear ch inter ests include uncertain
nonlinear sy stem control, integr ation fire/ flig ht/ propulsion
control.