Approximate Feedback Linearisation Using Multilayer Neural Networks |
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Authors: | He Shouling Unbehauen Rolf |
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Affiliation: | (1) Fellow, IEEE, Denmark |
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Abstract: | In this paper we introduce the approximate feedback linearisation using multilayer feedforward neural networks. We propose to approximate a basis of the one-dimensional codistribution of an affine nonlinear system with the derivative of a multilayer neural network [6] and form a change of coordinates with n multilayer neural networks [5]. In this paper we will prove that the transformation can define a local diffeomorphism, with which a local stabilising feedback law can be designed for a kind of non-linearisable nonlinear systems. |
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Keywords: | multilayer neural networks approximate feedback linearisation |
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