Trajectory tracking for the chaotic pendulum using PI control law
J. Perez, J. P. Perez, F. Rdz, and A. Flores
Facultad de Ciencias Físico Matemáticas, Universidad Autónoma de Nuevo León, (UANL) Monterrey, N.L., México. e-mail: joel.perezpd@uanl.edu.mx; josepazp@gmail.com; francisco-rdz-rmz@hotmail.com; afloresh@hotmail.com.
Received 26 October 2012 ]]> Accepted 31 May 2013
Abstract
This paper presents the application of trajectory tracking using adaptive neural networks to the double chaotic pendulum. The controller structure proposed is composed by a neural identifier and a PI Control Law. Experimental results with the chaotic pendulum showed the usefulness of the proposed approach. To verify the analytical results, an example of a dynamical network is simulated and a theorem is proposed to ensure the tracking of the nonlinear system.
Keywords: Neural networks; trajectory tracking; adaptive control; Lyapunov function stability and PI control.
PACS: 02.30.Yy-; 05.45.-a; 02.60.Cb
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