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Approximate discrete-time output regulation of spherical inverted pendulum by neural network control

机译：神经网络控制近似离散时间输出调节球面倒立锤

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The approximate continuous-time output regulation problem of the spherical inverted pendulum has been well addressed in recent years. Because most of the nonlinear control laws are implemented as digital controllers, this paper further studies the approximate discrete-time output regulation problem of the spherical inverted pendulum by neural network control. The solvability of the discrete-time output regulation problem relies on the solvability of the discrete regulator equations. However, the exact solution of the discrete regulator equations is not available due to the complexity of the equations. In this paper, we first show the solution of the discrete regulator equations associated with the spherical inverted pendulum exists and then use the neural network approximation method to solve the discrete-time output regulation problem. Finally, we compare our method with polynomial approximation method.
机译：近年来，球形倒置摆的近似连续时间输出调节问题已经很好地解决。由于大多数非线性控制定律被实施为数字控制器，因此本文进一步研究了神经网络控制的近似离散时间输出调节问题。离散时间输出调节问题的可解性依赖于离散调节器方程的可解性。然而，由于方程式的复杂性，离散调节器方程的精确解决方案不可用。在本文中，首先显示与球面倒立摆相关的离散调节器方程的解决方案存在，然后使用神经网络近似方法来解决离散时间输出调节问题。最后，我们将我们的方法与多项式近似方法进行比较。

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