Decentralized adaptive recurrent neural control structure

This paper presents a novel decentralized variable structure neural control approach for large-scale uncertain systems, which is developed using recurrent high-order neural networks (RHONN). It is assumed that each subsystem belongs to a class of blockcontrollable nonlinear systems whose vector fields includes interconnection terms, which are bounded by nonlinear functions. A decentralized RHONN structure and the respective learning law are proposed in order to approximate online the dynamical behavior of each nonlinear subsystem. The control law, which is able to regulate and to track the desired reference signals, is designed using the wellknown variable structure theory. The stability of the whole system is analyzed via the Lyapunov methodology. The applicability of the proposed decentralized identification and control algorithm is illustrated via simulations as applied to an interconnected double inverted pendulum. r 2007 Elsevier Ltd. All rights reserved.