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1.
The servo-motor possesses a strongly nonlinear property due to the effect of the stimulating input voltage, load-torque and environmental operating conditions. So it is rather difficult to derive a traditional mathematical model which is capable of expressing both its dynamics and steady-state characteristics. A neural network-based adaptive control strategy is proposed in this paper. In this method, two neural networks have been adopted for system identification (NNI) and control (NNC), respectively. Then, the commonly-used specialized learning has been modified, by taking the NNI output as the approximation output of the servo-motor during the weights training to get sensitivity information. Moreover, the rule for choosing the learning rate is given on the basis of the analysis of Lyapunov stability. Finally, an example of applying the proposed control strategy on a servo-motor is presented to show its effectiveness.  相似文献   

2.
非线性伺服电动机的神经网络逆控制   总被引:1,自引:1,他引:1  
刘坤  汪木兰  张新良 《计算机仿真》2007,24(10):152-155
伺服电动机由于存在接触过程的非线性、温漂等非线性因素的影响,很难建立其精确的数学模型,使得基于数学模型的控制困难.针对伺服电动机存在的非线性问题,提出了一种新颖的基于BP神经网络直接逆控制方法.首先,利用BP神经网络建立系统的正向模型(NNI),然后,设计基于神经网络的直接逆控制器(NNC),实现了对伺服电动机的自适应控制.在Lyapunov稳定性分析的基础上,给出了BP算法学习算子的选择方案,保证神经网络权值训练的快速收敛,同时,对训练BP神经网络控制器的专用算法(specialized learning)进行改进,利用NNI的输出求取权值调整的灵敏度函数.数字仿真结果表明提出的控制算法是简单有效的.  相似文献   

3.
局部递归神经网络控制器及其应用   总被引:2,自引:1,他引:2  
基于人工神经网络提出了一种局部递归神经网络控制器。在描述了带有输出反馈和激活反馈的网络控制器的结构组成并定义了作为设计目标的误差函数后,采用带有弹性的梯度下降法,获得适用于实时在线调整权值的修正公式,给出了所提的网络控制器的设计步骤及其控制策略。将所提出的网络控制器应用到典型的单级倒立摆的实验系统中,将实验所获得的结果与LQY方法的实验结果进行了对比。  相似文献   

4.
A neuro-adaptive backstepping control (NABSC) method using single-layer Chebyshev polynomial based neural network is proposed for the angular velocity tracking in buck converter fed permanent magnet dc (PMDC)-motor. Owing to their universal approximation property, neural networks have been utilized for approximating the unknown nonlinear profile of instantaneous load torque. The inherent computational complexity of the neural network based adaptive scheme has been circumvented through the use of orthogonal Chebyshev polynomials as basis functions. A detailed stability and transient performance analysis has been conducted using Lyapunov stability criteria. The proposed control scheme is shown to yield a superior output performance with enhanced robustness for wide variations in load torque and set-point changes, compared to existing conventional approaches based on adaptive backstepping. The theoretical propositions are verified on an experimental prototype using dSPACE, Control Desk DS1103 setup with an embedded TM320F240 Digital Signal Processor proving its applicability to real-time electrical systems. The efficiency of the proposed strategy is quantified using performance measures and are evaluated against the conventional adaptive backstepping control (ABSC) methodology. Ultimately, this investigation confirms the effectiveness of the proposed control scheme in achieving an enhanced output transient performance while faithfully realizing its control objective in the event of abrupt and uncertain load variations.  相似文献   

5.
In this paper, we investigate the learning issue in the adaptive neural network (NN) output feedback control of nonlinear systems in Brunovsky canonical form with unknown affine term. With only output measurements, a high-gain observer (HGO) is employed to estimate the derivatives of the system output which may be associated with the generation of peaking phenomenon. The adverse effect of peaking on learning and its elimination strategies are analyzed. When the gain of HGO is chosen too high, it may cause the failure of learning from the unknown closed-loop system dynamics. Hence, the gain of HGO is not chosen too high to relieve peaking and guarantee the accuracy of the estimated system states. Then, learning from the unknown closed-loop system dynamics can be achieved. When repeating the same or similar control tasks, a neural learning controller is presented which can effectively recall and reuse the learned knowledge to guarantee the output tracking performance. Finally, simulation results demonstrate the effectiveness of the proposed scheme.  相似文献   

6.
In this work we investigate techniques for embedding domain-specific spatial invariances into highly-constrained neural networks. This information is used to drastically reduce the number of weights which have to be determined during the learning phase, thus allowing us to apply artificial neural networks to problems characterized by a relatively small number of available examples. As an application of the proposed methodology, we study the problem of optical inspection of machined parts. More specifically, we have characterized the performance of a network created according to this strategy, which accepts images of parts under inspection at its input and issues a flag at its output which states whether the part is defective. The results obtained so far show that the proposed methodology provides a potentially relevant approach for the quality control of industrial parts, as it offers both accuracy and short software development time, when compared with a classifier implemented using a standard approach.  相似文献   

7.
针对全连接前馈神经网络不能有效应对时变系统的问题, 提出一种动态自适应模块化神经网络结构. 该网络采用减法聚类算法在线辨识工况数据的空间分布, 利用RBF 神经元实现对数据样本空间的划分, 并结合模糊策略将不同子样本空间的数据动态分配给不同的子网络, 最后对各子网络的输出进行集成. 该模块化网络中子网络数量和子网络规模都能根据所学时变任务动态自适应调整. 通过对不同时变系统的预测表明了该网络能够有效跟踪时变系统.  相似文献   

8.
This work proposes an indirect adaptive nonlinear control scheme based on a recurrent neural network and the output regulation theory.The neural model is first trained off-line, being further improved by means of an on-line learning strategy using the Lyapunov and nonlinear observation theories.The regulation problem is solved by an iterative strategy, formulated as an eigenvalue assignment problem, ensuring the convergence of the regulation equations.The strategy was tested on a distributed collector field of a solar power plant (Plataforma Solar de Almería, Spain). Experimental results, collected on the solar power plant, show the effectiveness of the proposed approach.  相似文献   

9.
This paper presents a Wiener-type recurrent neural network with a systematic identification algorithm and a control strategy for the identification and control of unknown dynamic nonlinear systems. The proposed Wiener-type recurrent network resembles the conventional Wiener model that consists of a dynamic linear subsystem cascaded with a static nonlinear subsystem. The novelties of our network include: (1) the two subsystems are integrated into a single network whose output is expressed by a nonlinear transformation of a linear state-space equation; (2) the characteristics of the trained network can be analyzed by its associated state-space equation using the well-developed theory of linear systems; and (3) the size of the network structure is determined by the number of state variables (or the system order) of the unknown systems to be identified. To effectively identify a given unknown system from its input–output data, we have developed a systematic identification algorithm that consists of an order determination procedure, a parameterization procedure, and an online learning procedure. The false nearest neighbors algorithm was adopted to acquire a minimal embedding dimension from the input–output data as the system order, and then the eigensystem realization algorithm (ERA) was used to initialize a best-fit state-space representation according to the acquired system order. To improve the overall identification performance, we have derived an online parameter learning algorithm based on an ordered derivatives and momentum terms. Subsequently, a simple feedback linear controller was designed to control the unknown dynamic nonlinear systems without much complexity. Computer simulations and comparisons with some existing recurrent networks have conducted to confirm the effectiveness and superiority of the proposed Wiener-type network, identification algorithm and control strategy.  相似文献   

10.
A direct adaptive neural control scheme for a class of nonlinear systems is presented in the paper. The proposed control scheme incorporates a neural controller and a sliding mode controller. The neural controller is constructed based on the approximation capability of the single-hidden layer feedforward network (SLFN). The sliding mode controller is built to compensate for the modeling error of SLFN and system uncertainties. In the designed neural controller, its hidden node parameters are modified using the recently proposed neural algorithm named extreme learning machine (ELM), where they are assigned random values. However, different from the original ELM algorithm, the output weight is updated based on the Lyapunov synthesis approach to guarantee the stability of the overall control system. The proposed adaptive neural controller is finally applied to control the inverted pendulum system with two different reference trajectories. The simulation results demonstrate good tracking performance of the proposed control scheme.  相似文献   

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