Adaptive Global Sliding-Mode Control for Dynamic Systems Using Double Hidden Layer Recurrent Neural Network Structure.

In this paper, a full-regulated neural network (NN) with a double hidden layer recurrent neural network (DHLRNN) structure is designed, and an adaptive global sliding-mode controller based on the DHLRNN is proposed for a class of dynamic systems. Theoretical guidance and adaptive adjustment mechanism are established to set up the base width and central vector of the Gaussian function in the DHLRNN structure, where six sets of parameters can be adaptively stabilized to their best values according to different inputs. The new DHLRNN can improve the accuracy and generalization ability of the network, reduce the number of network weights, and accelerate the network training speed due to the strong fitting and presentation ability of two-layer activation functions compared with a general NN with a single hidden layer. Since the neurons of input layer can receive signals which come back from the neurons of output layer in the output feedback neural structure, it can possess associative memory and rapid system convergence, achieving better approximation and superior dynamic capability. Simulation and experiment on an active power filter are carried out to indicate the excellent static and dynamic performances of the proposed DHLRNN-based adaptive global sliding-mode controller, verifying its best approximation performance and the most stable internal state compared with other schemes.