The focus of this book is the application of artificial neural networks in uncertain dynamical systems. It explains how to use neural networks in concert with adaptive techniques for system identification, state estimation, and control problems. The authors begin with a brief historical overview of adaptive control, followed by a review of mathematical preliminaries. In the subsequent chapters, they present several neural network-based control schemes. Each chapter starts with a concise introduction to the problem under study, and a neural network-based control strategy is designed for the simplest case scenario. After these designs are discussed, different practical limitations (i.e., saturation constraints and unavailability of all system states) are gradually added, and other control schemes are developed based on the primary scenario. Through these exercises, the authors present structures that not only provide mathematical tools for navigating control problems, but also supply solutions that are pertinent to real-life systems.

The authors here provide a detailed treatment of the design of robust adaptive controllers for nonlinear systems with uncertainties. They employ a new tool based on the ideas of system immersion and manifold invariance. New algorithms are delivered for the construction of robust asymptotically-stabilizing and adaptive control laws for nonlinear systems. The methods proposed lead to modular schemes that are easier to tune than their counterparts obtained from Lyapunov redesign.

This book is an outgrowth of the workshop on Neural Adaptive Control Technology, NACT I, held in 1995 in Glasgow. Selected workshop participants were asked to substantially expand and revise their contributions to make them into full papers.The workshop was organised in connection with a three-year European Union funded Basic Research Project in the ESPRIT framework, called NACT, a collaboration between Daimler-Benz (Germany) and the University of Glasgow (Scotland). A major aim of the NACT project is to develop a systematic engineering procedure for designing neural controllers for nonlinear dynamic systems. The techniques developed are being evaluated on concrete industrial problems from Daimler-Benz.In the book emphasis is put on development of sound theory of neural adaptive control for nonlinear control systems, but firmly anchored in the engineering context of industrial practice. Therefore the contributors are both renowned academics and practitioners from major industrial users of neurocontrol.

This practical yet rigorous book provides a development of nonlinear, Lyapunov-based tools and their use in the solution of control-theoretic problems. Rich in motivating examples and new design techniques, the text balances theoretical foundations and real-world implementation.

Introduction; Mathematical background; Dynamic modelling of robots; Structured network modelling of robots; Adaptive neural network control of robots; Neural network model reference adaptive control; Flexible joint robots; task space and force control; Bibliography; Computer simulation; Simulation software in C.

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