Direct adaptive control using self recurrent wavelet neural network via adaptive learning rates for stable path tracking of mobile robots

Author(s):  
Sung Jin Yoo ◽  
Jin Bae Park ◽  
Yoon Ho Choi
2012 ◽  
Vol 135 (2) ◽  
Author(s):  
Mohsen Farahani ◽  
Soheil Ganjefar

This study proposes a new intelligent controller based on self-constructing wavelet neural network (SCWNN) to suppress the subsynchronous resonance (SSR) in power systems compensated by series capacitors. In power systems, the use of intelligent technique is inevitable, because of the uncertainties such as operating condition variations, different kinds of disturbances, etc. Accordingly, an intelligent control system that is an on-line trained SCWNN controller with adaptive learning rates is used to mitigate the SSR. The Lyapunov stability method is used to extract the adaptive learning rates. Hence, the convergence of the proposed controller can be guaranteed. At first, there is no wavelet in the structure of controller. They are automatically generated and begin to grow during the control process. In the whole design process, the identification of the controlled plant dynamic is not necessary according to the ability of the proposed controller. The effectiveness and robustness of the proposed controller are demonstrated by using the simulation results.


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