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NN adaptive control

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Appendix A
Proof of Theorem 2.1.1
The error dynamics defined in Eq. (2.8) can be expressed as follows:
& = det Blvee tu, — A)
= det BIW -~ WTS e+)
where ¢ is the NN reconstruction error defined in Eq. (2.23). Using a Taylor-series
expansion for & with respect to VTX, Eq. (A.2) can be rewritten as
é TR)
core (a3)
+WTEVTR-e+ w+}
where
WTO2(0TR) + WTS.VTR
vev-v (Aa)
W=Ww-w
O(-)? represents 2nd and higher order terms of the Taylor-series expansion for &.
OF = -6 +6,0V7R (A.5)
The adaptive signal (vgq) can be shown to be bounded as follows
Weall = VTS)
(bu +7)/,W7
S (bw + n2)/|21]
S$ (bu +m2)(Z + 112)
(A.6)
108
Reproduced with permission of the copyright owner. Further reproduction prohibited without permissionThe inputs to the NN are also bounded
HRI] = Mlb eT 23, 2, £3, 28 8 ve (ZI
Sem + erl|2| + lll
where
0 = by + Fe + (1+ by +M2)Z
c= 1+by +m
The following conditions are used for the proof.
El < Na" I] + El] < Abu + n2)
Gell $ a(by + 12)(1 + by + ra)
Then
NO] = |-o+
S184 + (est AI
Set call? + calZll + colZllilell
where
€2 = Abu +12)
3 = a(by + n2)cf
4 = a(by + n2)eoer
5 = a(by + na)er
Using above properties, it follows that ||w| is bounded as follows
wll < [Wet 0°70 TR) + WTS. TR
$ NOW ay] + Zi) ZNe-Hxl
Sc + erl|ZIP? + callZI| + collZilllell
where
=e
cy = 22eq
ca = 2Zey
o = 225
109
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(Az)
(A8)
(A.9)
(A.10)
(Aa)
(a2)
(A.13)Consider the candidate Lyapunov function
1 -
L(e,V,W) = Se" Pe + See(V 507}
ae (Aaa)
+ gwry WT}
Using Eq's. (2.10), (2.33), and (A.3), the time derivative for the Lyapunov candidate
funetion can be expressed as
~llelP + G(w + v- ~ 6) ~ Alclite{Z*Z} (A.5)
Substituting the robustifyi
W212 ~ ZIP, in Eq.
\g term and using the triangular inequality, —tr{Z™Z} <
15) gives
i <= llell? + Ice + thull)
= AICHZICZ1) - 2) (A.16)
= Kalle’ — Kraltlllel(UZIl + 2)
Substituting Eq. (A.12) into Eq, (A.16), using an inequality condition. |\¢l] < Wlelll| PBI],
and a(PB)]lell < ||¢|| where ¢ represents the minimum singular value, and the trian-
gular inequality, ||Z|| > {|Z|| — 2, yields
L < ~agllel|* — aifel| — (Kr — e9)11Z lle Cll (a.17)
where
@ =1 + Kyog?(PB)
s aa =, (A.18)
ay =||PBI{E + co + crl|ZIP + (cx + AZ)IIZI} - a PB)|ZIP°
Thus selecting K’,, > cy allows one to eliminate the last term of Eq. (A.17). This
condition is sufficient to show that L is negative semidefinite when |{el| > |a:/ao|
Therefore, by LaSalle theorem, e(t) and Z(t) remain bounded.
0
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