Traditional proportional-integral-derivative (PID) controllers have achieved widespread success in industrial applications. However, the nonlinearity and uncertainty of practical systems cannot be ignored, even though most of the existing research on PID controllers is focused on linear systems. Therefore, developing a PID controller with learning ability is of great significance for complex nonlinear systems. This article proposes a deterministic learning-based advanced PID controller for robot manipulator systems with uncertainties. The introduction of neural networks (NNs) overcomes the upper limit of the traditional PID feedback mechanism’s capability. The proposed control scheme not only guarantees system stability and tracking error convergence but also provides a simple way to choose the three parameters of PID by setting the proportional coefficients. Under the partial persistent excitation (PE) condition, the closed-loop system unknown dynamics of robot manipulator systems are accurately approximated by NNs. Based on the acquired knowledge from the stable control process, a learning PID controller is developed to further improve overall control performance, while overcoming the problem of repeated online weight updates. Simulation studies and physical experiments demonstrate the validity and practicality of the proposed strategy discussed in this article.
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神经网络α阶逆系统在离散非线性系统控制中的应用 总被引：7，自引：2，他引：7
给出一般离散非线性系统的神经网络α阶逆系统(将α阶逆系统与原系统直接串联起来,构成一伪线性系统,具有α阶时延性质)的结构与辨识,并研究其在非线性系统控制中的直接应用。仿真结果表明该方法具有较普遍意义,且结构简单,易于实现。 相似文献
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1引言 在Wiener开创控制论的伊始,就将控制、信息和神经科学作为一个共同的课题。后,控制学科、计算科学和神经生理学趋于分开发展。自从80年代初期以来,神经网络有了长的进步,在人工智能和 相似文献
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非线性系统控制的逆系统方法（Ⅰ） 总被引：7，自引：0，他引：7
介绍非线性系统控制的逆系统方法及相应的单一非线性系统的控制理论。包括：逆系统方法的基本概念和设计原理，单变量系统α阶积分逆的设计方法，连续单变量系统的系统的控制，逆系统在一类分布参数系统和离散时间系统上的推广示例。 相似文献
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针对一类多输入多输出非线性被控对象,利用前向神经网络逼近原系统的逆系统,将其作为控制器,采用预测滚动优化性能指标训练该神经网络逆控制器,以克服干扰和不确定性影响,实现对多变量非线性对象的解耦控制。对某微型锅炉对象进行了控制算法仿真,结果表明,所提出的控制方法能够克服模型误差的影响,实现稳定解耦控制,且易于实现。在仿真过程中通过实验方法建立该锅炉对象的神经网络预测模型,并注意采用泛化方法采集训练样本数据和训练神经网络,以提高神经网络模型的泛化能力。 相似文献
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采用一种基于互补声学模型的多系统融合方法来获得高性能的语音关键词检测系统: 1)在基线系统的基础上, 使用不同的音素集进行声学建模, 并引入基于神经网络的声学建模方法, 获得另外两套具有建模差异性的声学系统; 2)在多套关键词检测系统的基础上, 通过选择有效的系统融合准则, 将多个系统的输出进行整合, 获得更好的语音关键词检测结果. 该方法充分利用了差异性声学建模系统之间的互补性, 在不增加训练数据的情况下, 显著地提升了最终系统的性能. 和基线系统相比, 该方法在2005年国家863电话语音关键词检测技术评测集上, 在等错误率(Equal error rate, EER)指标下, 获得相对21.6%的显著性能提升. 相似文献
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This paper presents an improved nonlinear system identification scheme using di？erential evolution （DE）, neural network （NN） and Levenberg Marquardt algorithm （LM）. With a view to achieve better convergence of NN weights optimization during the training, the DE and LM are used in a combined framework to train the NN. We present the convergence analysis of the DE and demonstrate the efficacy of the proposed improved system identification algorithm by exploiting the combined DE and LM training of the NN and suitably implementing it together with other system identification methods, namely NN and DE＋NN on a number of examples including a practical case study. The identification results obtained through a series of simulation studies of these methods on different nonlinear systems demonstrate that the proposed DE and LM trained NN approach to nonlinear system identification can yield better identification results in terms of time of convergence and less identification error. 相似文献
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This paper focuses on designing an adaptive radial basis function neural network (RBFNN) control method for a class of nonlinear systems with unknown parameters and bounded disturbances. The problems raised by the unknown functions and external disturbances in the nonlinear system are overcome by RBFNN, combined with the single parameter direct adaptive control method. The novel adaptive control method is designed to reduce the amount of computations effectively. The uniform ultimate boundedness of the closed-loop system is guaranteed by the proposed controller. A coupled motor drives (CMD) system, which satisfies the structure of nonlinear system, is taken for simulation to confirm the effectiveness of the method. Simulations show that the developed adaptive controller has favorable performance on tracking desired signal and verify the stability of the closed-loop system. 相似文献
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文章针对带有不确定性的非线性网络系统设计了协调跟踪控制器, 使得follower实现了对仅部分信息可测且受干扰的动态leader的跟踪. 文章运用神经网络方法对follower动态进行建模, 提出了基于观测器的自适应控制策略, 并且通过Lyapunov理论证明, 在适当的网络拓扑条件和适当选择参数的前提下, 该网络系统可以达UUB (Cooperative Uniformly Ultimately Bounded). 最后, 文章给出仿真实例以验证所提算法的有效性. 相似文献
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本文提出一种动态线性或非线性系统的神经网络逆模型辨识结构,并引出两种ＰＩＤ与神经网络逆模型相结合的自适应控制方案,神经网络模型采用基于Ｕ－Ｄ分解卡尔曼滤波学习算法（ＵＤＫ）的动态前向多层网、仿真结果表明了所述辨识方案的有效性及特点 。 相似文献
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