Full Content is available to subscribers

Subscribe/Learn More  >

Dynamic Reoptimization of a SNAC Controller for Velocity Tracking in a Nano Array

[+] Author Affiliations
Nishant Unnikrishnan, S. N. Balakrishnan

University of Missouri at Rolla

Paper No. IMECE2005-81751, pp. 1003-1010; 8 pages
  • ASME 2005 International Mechanical Engineering Congress and Exposition
  • Dynamic Systems and Control, Parts A and B
  • Orlando, Florida, USA, November 5 – 11, 2005
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 0-7918-4216-9 | eISBN: 0-7918-3769-6
  • Copyright © 2005 by ASME


Online trained neural networks have become popular in designing robust and adaptive controllers for dynamic systems with uncertainties in their system equations because of their universal function approximation property. The uniqueness of the method proposed in this work is that the online function approximating network can be used to re-optimize in real time an existing Single Network Adaptive Critic (SNAC) based optimal controller that has already been designed for a nominal system. The controller redesign is carried out in two steps: (i) synthesis of an online neural network that captures the unknown functions in the plant equations on-line (ii) re-optimization of the existing optimal SNAC controller to drive the states of the plant to a desired reference by minimizing a predefined cost function. The neural network weight update rule for the online networks has been derived using Lyapunov theory that guarantees both the stability of the error dynamics as well as boundedness of the weights. This approach has been applied to control the frictional dynamics of a nano-scale array of particles to track a predefined value of average sliding velocity. Here, the system is in an output feedback form where all states are not available for measurement. This is a significant step towards optimal control of systems at nano levels. Numerical results from simulation studies are presented.

Copyright © 2005 by ASME



Interactive Graphics


Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In