On-line adaptive control of dynamic systems preceded by hysteresis via neural networks

This thesis deals with on-line adaptive control of a class of dynamic systems preceded by backlash-like hysteresis nonlinearities via dynamic neural networks. A three layer recurrent neural network called the diagonal recurrent neural network (DRNN) is applied to construct the hysteresis inverse compensator (DRNNC) to remove the effect of hysteresis. An on-line learning algorithm called the dynamic back propagation (DBP) algorithm is developed to train the DRNN. Based on the cancellation of hysteresis effect, an adaptive tracking control architecture, which is constructed through the combination of sliding mode and Gaussian network (GNNC), is then proposed. The diagonal recurrent neural network compensator (DRNN) and Gaussian network controller (GNNC) are trained at the same time since DRNN requires fewer weights, and less training time, and still preserves the dynamic characteristics, which allow the DRNN model to be used for on-line application. The performance of this control structure is illustrated through simulations with example system

Adaptive Robot Control Using Artificial Neural Networks:An Application in the Theory of Cognition

During the last decade the problem of real-time robot control has proven to be of extreme difficulty. At present, available control systems are inadequate for the task. In addition, the application of sophisticated control schemes such as the Model-Reference Adaptive Control is prevented by the heavy computational task that is necessary to implement it. This paper offers a feasable solution for the real-time control of robot manipulators by adapting certain concepts of neural networks. An adaptive controller is presented which solves for the highly coupled dynamic equations of motion, which are known to present the heaviest obstacle in real-time computations. A symbolic representation of the Lagrange-Euler equations is adapted for this purpose. The neural controller is designed on a multi-layered network, in which the adaptation for environment changes could be accommodated via the back-propagation of errors throughout the network.....

System Identification for Nonlinear Control Using Neural Networks

An approach to incorporating artificial neural networks in nonlinear, adaptive control systems is described. The controller contains three principal elements: a nonlinear inverse dynamic control law whose coefficients depend on a comprehensive model of the plant, a neural network that models system dynamics, and a state estimator whose outputs drive the control law and train the neural network. Attention is focused on the system identification task, which combines an extended Kalman filter with generalized spline function approximation. Continual learning is possible during normal operation, without taking the system off line for specialized training. Nonlinear inverse dynamic control requires smooth derivatives as well as function estimates, imposing stringent goals on the approximating technique

Design of an adaptive neural predictive nonlinear controller for nonholonomic mobile robot system based on posture identifier in the presence of disturbance

This paper proposes an adaptive neural predictive nonlinear controller to guide a nonholonomic wheeled mobile robot during continuous and non-continuous gradients trajectory tracking. The structure of the controller consists of two models that describe the kinematics and dynamics of the mobile robot system and a feedforward neural controller. The models are modified Elman neural network and feedforward multi-layer perceptron respectively. The modified Elman neural network model is trained off-line and on-line stages to guarantee the outputs of the model accurately represent the actual outputs of the mobile robot system. The trained neural model acts as the position and orientation identifier. The feedforward neural controller is trained off-line and adaptive weights are adapted on-line to find the reference torques, which controls the steady-state outputs of the mobile robot system. The feedback neural controller is based on the posture neural identifier and quadratic performance index optimization algorithm to find the optimal torque action in the transient state for N-step-ahead prediction. General back propagation algorithm is used to learn the feedforward neural controller and the posture neural identifier. Simulation results show the effectiveness of the proposed adaptive neural predictive control algorithm; this is demonstrated by the minimised tracking error and the smoothness of the torque control signal obtained with bounded external disturbances

Seven properties of self-organization in the human brain

The principle of self-organization has acquired a fundamental significance in the newly emerging field of computational philosophy. Self-organizing systems have been described in various domains in science and philosophy including physics, neuroscience, biology and medicine, ecology, and sociology. While system architecture and their general purpose may depend on domain-specific concepts and definitions, there are (at least) seven key properties of self-organization clearly identified in brain systems: 1) modular connectivity, 2) unsupervised learning, 3) adaptive ability, 4) functional resiliency, 5) functional plasticity, 6) from-local-to-global functional organization, and 7) dynamic system growth. These are defined here in the light of insight from neurobiology, cognitive neuroscience and Adaptive Resonance Theory (ART), and physics to show that self-organization achieves stability and functional plasticity while minimizing structural system complexity. A specific example informed by empirical research is discussed to illustrate how modularity, adaptive learning, and dynamic network growth enable stable yet plastic somatosensory representation for human grip force control. Implications for the design of “strong” artificial intelligence in robotics are brought forward

Adaptive Tesselation CMAC

An ndaptive tessellation variant of the CMAC architecture is introduced. Adaptive tessellation is an error-based scheme for distributing input representations. Simulations show that the new network outperforms the original CMAC at a vnriety of learning tasks, including learning the inverse kinematics of a two-link arm.Office of Naval Research (N00014-92-J-4015, N00014-91-J-4100); National Science Foundation (IRI-90-00530); Boston University Presidential Graduate Fellowshi

Channel estimation and transmit power control in wireless body area networks

Wireless body area networks have recently received much attention because of their application to assisted living and remote patient monitoring. For these applications, energy minimisation is a critical issue since, in many cases, batteries cannot be easily replaced or recharged. Reducing energy expenditure by avoiding unnecessary high transmission power and minimising frame retransmissions is therefore crucial. In this study, a transmit power control scheme suitable for IEEE 802.15.6 networks operating in beacon mode with superframe boundaries is proposed. The transmission power is modulated, frame-by-frame, according to a run-time estimation of the channel conditions. Power measurements using the beacon frames are made periodically, providing reverse channel gain and an opportunistic fade margin, set on the basis of prior power fluctuations, is added. This approach allows tracking of the highly variable on-body to on-body propagation channel without the need to transmit additional probe frames. An experimental study based on test cases demonstrates the effectiveness of the scheme and compares its performance with alternative solutions presented in the literature

Neural Architectures for Control

The cerebellar model articulated controller (CMAC) neural architectures are shown to be viable for the purposes of real-time learning and control. Software tools for the exploration of CMAC performance are developed for three hardware platforms, the MacIntosh, the IBM PC, and the SUN workstation. All algorithm development was done using the C programming language. These software tools were then used to implement an adaptive critic neuro-control design that learns in real-time how to back up a trailer truck. The truck backer-upper experiment is a standard performance measure in the neural network literature, but previously the training of the controllers was done off-line. With the CMAC neural architectures, it was possible to train the neuro-controllers on-line in real-time on a MS-DOS PC 386. CMAC neural architectures are also used in conjunction with a hierarchical planning approach to find collision-free paths over 2-D analog valued obstacle fields. The method constructs a coarse resolution version of the original problem and then finds the corresponding coarse optimal path using multipass dynamic programming. CMAC artificial neural architectures are used to estimate the analog transition costs that dynamic programming requires. The CMAC architectures are trained in real-time for each obstacle field presented. The coarse optimal path is then used as a baseline for the construction of a fine scale optimal path through the original obstacle array. These results are a very good indication of the potential power of the neural architectures in control design. In order to reach as wide an audience as possible, we have run a seminar on neuro-control that has met once per week since 20 May 1991. This seminar has thoroughly discussed the CMAC architecture, relevant portions of classical control, back propagation through time, and adaptive critic designs