The present state of development of a new branch of Soft Computing (SC) developed for the adaptive control of a special class of non-linear coupled MIMO systems is reported. Its uniform structures are obtained from certain Lie groups unlike that of the traditional SC approaches. The adavantages are: a priori known and very reduced size, increase in lucidity; parameter tuning or learning is replaced by simple and short explicit algebraic procedure. The disadvantage is limited circle of applicability. Convergence consideratons are discussed for MIMO and SISO systems, too. Simulation examples are presented for the control of the inverted pendulum by the use of the generalized Lorentzian matrices. It is concluded that the method is promising and probably imposes acceptable convergence requirements in many practical cases.
|Number of pages||6|
|Journal||Proceedings - IEEE International Conference on Robotics and Automation|
|Publication status||Published - Jan 1 2001|
ASJC Scopus subject areas
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering