Constrained Control of Weakly Coupled Nonlinear Systems Using Neural Network

  • Dipak M. Adhyaru
  • I. N. Kar
  • M. Gopal
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 5909)


In this paper, a new algorithm is proposed for the constrained control of weakly coupled nonlinear systems. The controller design problem is solved by solving Hamilton-Jacobi-Bellman(HJB) equation with modified cost to tackle constraints on the control input and unknown coupling. In the proposed controller design framework, coupling terms have been formulated as model uncertainties. The bounded controller requires the knowledge of the upper bound of the uncertainty. In the proposed algorithm, Neural Network (NN) is used to approximate the solution of HJB equation using least squares method. Necessary theoretical and simulation results are presented to validate proposed algorithm.


Weak coupling HJB equation Bounded control Nonlinear system Lyapunov stability 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2009

Authors and Affiliations

  • Dipak M. Adhyaru
    • 1
  • I. N. Kar
    • 2
  • M. Gopal
    • 2
  1. 1.Instrumentation and Control Engineering Department, Institute of TechnologyNirma UniversityAhmedabadIndia
  2. 2.Department of Electrical EngineeringIndian Institute of TechnologyDelhi

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