离散非线性系统的神经网络预测控制及其在AUV中的应用

针对一类不确定离散非线性系统,提出了一种神经网络预测控制算法.考虑系统中的不确定项,建立神经网络辨识模型作为预测模型.为减少重构误差对系统的影响使用了反馈校正技术.为提高控制性能引入了一种动态补偿器来镇定跟踪误差系统.所提出的控制算法保证了闭环系统的所有信号都是有界的.最后,针对AUV中的路径跟踪问题对所提出的控制算法进行仿真应用,仿真结果说明了算法的有效性.     

卫星姿态跟踪的间接自适应模糊预测控制

对含模型不确定性和未知干扰的卫星姿态系统提出了具有间接自适应模糊补偿的广义预测跟踪控制方法. 首先基于卫星姿态动力学模型设计了非线性广义预测控制律, 再利用自适应模糊系统逼近预测控制律中的模型不确定项, 使得所得到的预测控制算法可实施.证明了当卫星姿态模型中不确定项满足一定条件时, 所设计的控制律可使卫星姿态跟踪误差收敛到原点的小邻域内,并仿真结果验证了所提出方法的有效性.     

一类时滞非线性系统的采样迭代学习控制

本文针对一类时滞非线性系统提出一种采样迭代学习控制算法,严格证明了该算法的指数收敛性.当系统满足所给出的条件时,跟踪误差以指数速率收敛至一个与采样周期有关的误差范围内.     

非线性系统双模鲁棒预测控制: 不变集切换方法

提出了一种基于不变集切换的非线性系统鲁棒预测控制算法.采用分段蕴含方法将非线性系统动态用一组线性变参数(LPV)系统动态包裹;计算出非线性系统的平衡面,对于每个LPV蕴含模型,针对相应的平衡点构造多面体不变集,得到覆盖非线性系统平衡面的一组相互重叠的不变集;在线根据系统当前状态所处的不变集和LPV区间切换控制律,最终保证闭环系统的稳定性.与传统的非线性预测控制相比,这种方法在构造不变集和确定控制律的计算都是离线进行,而在线只需根据当前状态切换控制律即可,从而避免了求解复杂的非凸非线性规划,在很大程度上降低了在线计算量.     

基于径向基函数神经网络的流程企业供应链预测仿真

本文在比较预测方法的基础上，采用径向基函数（RBF）神经网络技术建立流程企业供应链预测模型，进行了实例预测仿真，并将预测结果与BP网络的预测结果进行了比较。结果表明，RBF网络误差小于BP网络，其中平方根RBF网络的预测仿真误差最小，而BP网络的误差最大。     

基于BP神经网络的供应链绩效评价方法

动态供应链绩效评价是一个包含多个指标输入输出的复杂评估系统,各绩效指标具有模糊性、不确定性,绩效指标数量较多,彼此之间存在非线性关联性。针对这样一个复杂的评估系统,本文讨论利用神经网络技术来对动态供应链绩效进行综合评价。本文首先介绍了人工神经网络的基本概念。针对供应链绩效的五维平衡计分卡模型,利用BP神经网络(Back Propagation NeuralNetwork,BP网络)来对供应链综合绩效评价结果进行学习和预测,文中我们详细讨论了供应链绩效评价中BP网络的学习过程和存在的问题,并给出了仿真结果。计算实例表明本文提出的动态供应链绩效评价模型是合理、有效的,能够为供应链的合理分析和决策制定提供依据。     

BP神经网络在期货价格预测中的应用

影响期货价格短期走势的因素纷繁复杂,具有一定的非线性和随机性,因而难于预测.鉴于神经网络强大的非线性映射能力,利用改进的BP网络,对较难解决的期货价格预测问题进行了研究,提出了一种预测期货价格的方法,并以期货铝的价格为例验证了此方法的有效性.     

基于改进BP神经网络的组合预测模型设计

为提高预测精度,解决非线性组合预测中的困难,利用改进BP神经网络对非线性组合预测模型进行了设计.讨论了模型设立的原则和一般程序,比较其与传统的组合预测方法之间的优劣,并给出实例加以验证.结果显示,基于改进BP神经网络的非线性组合预测模型能够准确描述系统中的非线性,提高预测精度.     

基于GA-BP的模糊神经网络控制器与Elman辨识器的系统设计

提出了一种基于神经网络的模糊控制系统 ,该系统由模糊神经网络控制器和模型辨识网络组成 .文中介绍了模糊神经网络控制器采用遗传算法离线优化与 BP算法在线调整 ,给出了具体控制算法 ,推导了变形 Elmam网络的系统辨识算法 .仿真结果表明了此法的可行性和有效性 .     

粒子群优化的收敛分析及在广义预测控制中的应用

在进行粒子群优化的收敛性理论分析的基础上,推出了保证粒子群优化算法收敛性的参数设置区域,合理选择粒子群算法的关键参数,将粒子群优化与广义预测控制有机融合,用粒子群算法来解决广义预测控制的优化问题,提出基于粒子群优化的广义预测控制算法,通过工业过程对象的仿真并和传统的广义预测控制算法进行了对比分析,表明了该算法的有效性,特别是算法具有良好的输出跟踪精度和较强的鲁棒性.     

基于预测控制的直接侧向力气动力复合控制方法研究

针对大气层内拦截导弹直接侧向力与气动力复合控制系统设计问题, 首先, 根据发动机的配置建立了复合控制系统模型;其次, 提出了复合控制策略, 包括动态分配算法、直接力控制子系统、气动力控制子系统3部分; 然后, 在考虑两套执行机构动态特性差别的情况下,基于预测控制思想给出了过载误差动态分配算法; 在此基础上, 根据直接侧向力的离散特性, 基于预测控制方法设计了直接力控制规律, 考虑到直接力控制作用对弹体产生的扰动, 基于自抗扰方法设计了气动力子系统; 最后, 通过仿真验证了直接力气动力复合控制策略与方法的有效性.     

FUZZY IDENTIFIER WITH EXPONENTIAL RATE OF CONVERGENCE FOR NONLINEAR DYNAMIC SYSTEMS

1 IntroductionIn recent yearst there is a development in the use of fuzzy systems for modelling, identifyingand controlling nonlinear systems. The reason is that conventional identification methods canonly use input-output pairs, but ignore linguistic information about the behavior of nonlinearsystems. Therefore, developing identifiers and controllers Of nonlinear systems which can com-bine both linguistic knowledge and numerical information is an important task. Ill this repect,works on the …     

Adaptive type-2 fuzzy backstepping control of uncertain fractional-order nonlinear systems with unknown dead-zone

A new problem of adaptive type-2 fuzzy fractional control with pseudo-state observer for commensurate fractional order dynamic systems with dead-zone input nonlinearity is considered in presence of unmatched disturbances and model uncertainties; the control scheme is constructed by using the backstepping and adaptive technique. To avoid the complexity of backstepping design process, the dynamic surface control is used. Also, Interval type-2 Fuzzy logic systems (IT2FLS) are used to approximate the unknown nonlinear functions. By using the fractional adaptive backstepping, fractional control laws are constructed; this method is applied to a class of uncertain fractional-order nonlinear systems. In order to better control performance in reducing tracking error, the PSO algorithm is utilized for tuning the controller parameters. Stability of the system is proven by the Mittag–Leffler method. It is shown that the proposed controller guarantees the boundedness property for the system and also the tracking error can converge to a small neighborhood of the origin. The efficiency of the proposed method is illustrated with simulation examples.     

Nonlinear Modeling and Tracking Control of a Hydraulic Rotary Vane Actuator

Rotary vane actuators as rotational drives provide rotational movements directly because they are constructed as a joint and actuator in one. So it is possible to pass on the disadvantageous transmission kinematics used with the so far usual differential cylinders at the arms of large manipulators. However, the use of hydraulic rotary vane actuators is associated with high internal oil leakage and/or high friction. Therefore, a nonlinear dynamic model for such an actuator, driving a rigid robot arm, as well as its nonlinear control are derived. To achieve tracking control a model based control law is set up using fundamental linear differential equations for the tracking error. The control law is implemented and tested on a testbed, the produced experimental results are presented. The same control algorithm can also be used to realize nonlinear disturbance attenuation for hydraulic rotary vane actuators via tracking control. (© 2005 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)     

A novel scheme for the design of backstepping control for a class of nonlinear systems

A novel scheme is proposed for the design of backstepping control for a class of state-feedback nonlinear systems. In the design, the unknown nonlinear functions are approximated by the neural networks (NNs) identification models. The Lyapunov function of every subsystem consists of the tracking error and the estimation errors of NN weight parameters. The adaptive gains are dynamically determined in a structural way instead of keeping them constants, which can guarantee system stability and parameter estimation convergence. When the modeling errors are available, the indirect backstepping control is proposed, which can guarantee the functional approximation error will converge to a rather small neighborhood of the minimax functional approximation error. When the modeling errors are not available, the direct backstepping control is proposed, where only the tracking error is necessary. The simulation results show the effectiveness of the proposed schemes.     

Are linear algorithms always good for linear problems?

We exhibit linear problems for which every linear algorithm has infinite error, and show a (mildly) nonlinear algorithm with finite error. The error of this nonlinear algorithm can be arbitrarily small if appropriate information is used. We illustrate these examples by the inversion of a finite Laplace transform, a problem arising in remote sensing.     

A Model Predictive Control Algorithm Applied To Non-Linear Processes

Model predictive control (MPC) is an optimization-based approach that has been successfully applied to a wide variety of control problems. In most of nonlinear strategies, the controllers are based on linear models with fixed parameters so that the vast body of linear control theory can be applied. Other solutions include the use of a nonlinear analytical model, combinations of linear empirical models, etc. This paper presents an MPC algorithm which uses on-line simulation and rule-based control. (© 2006 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Online affine model identification of nonlinear processes using a new adaptive neuro-fuzzy approach

This paper presents a new online identification algorithm to drive an adaptive affine dynamic model for nonlinear and time-varying processes. The new algorithm is devised on the basis of an adaptive neuro-fuzzy modeling approach. Two adaptive neuro-fuzzy models are sequentially identified on the basis of the most recent input-output process data to realize an online affine-type model. A series of simulation test studies has been conducted to demonstrate the efficient capabilities of the proposed algorithm to automatically identify an online affine-type model for two highly nonlinear and time-varying continuous stirred tank reactor (CSTR) benchmark problems having inherent non-affine dynamic model representations. Adequacy assessments of the identified models have been explored using different evaluation measures, including comparison with an adaptive neuro-fuzzy inference system (ANFIS) as the pioneering and the most popular adaptive neuro-fuzzy system with powerful modeling features.