Model-reference adaptive control based on neurofuzzy networks

Model reference adaptive control (MRAC) is a popular approach to control linear systems, as it is relatively simple to implement. However, the performance of the linear MRAC deteriorates rapidly when the system becomes nonlinear. In this paper, a nonlinear MRAC based on neurofuzzy networks is derived. Neurofuzzy networks are chosen not only because they can approximate nonlinear functions with arbitrary accuracy, but also they are compact in their supports, and the weights of the network can be readily updated on-line. The implementation of the neurofuzzy network-based MRAC is discussed, and the local stability of the system controlled by the proposed controller is established. The performance of the neurofuzzy network-based MRAC is illustrated by examples involving both linear and nonlinear systems. © 2004 IEEE.published_or_final_versio

A study in the use of fuzzy logic in the management of an automotive heat engine / electric hybrid vehicle powertrain

This thesis addresses the problem of the instant-by-instant control of the powertrain of a hybrid heat engine/electric vehicle. In the absence of a prototype vehicle on which the work could be carried out the work has taken the form of computer simulation experiments. In order to develop the powertrain control strategies, a computer model of a conceptual hybrid vehicle is then developed, containing components from real, production and prototype vehicles. The use of this component based modelling approach allows the models to be validated by comparing their predictions with the performance of the real vehicles in which the components are used. The previous work conducted in the field of hybrid vehicle powertrain control is then reviewed. It is found that fuzzy logic could potentially provide a means of controlling the hybrid powertrain in a realistic manner, in which some of the disadvantages of previous hybrid powertrain control strategies could be overcome. The results of initial simulation experiments are then reported, finding that whilst the basic method appears to have the potential to successfully control the powertrain, there is a need for an adaptive fuzzy powertrain controller. A review is then presented of previous work conducted in the field of adaptive fuzzy control, finding that none of the reported adaptive fuzzy control methods are capable of being easily applied in the case of the hybrid powertrain. An adaptive fuzzy controller is then developed, whose rule modification strategy is specifically designed to work in the hybrid powertrain control problem. This initial adaptive powertrain controller is then modified to improve its ability to control the overall performance of a hybrid vehicle, whilst maintaining vehicle driveability. It is found that this controller is able to adapt to the different driving styles of individual vehicle users within the space of a few simulated urban journeys. Experiments are then performed in which improvements in the overall efficiency of the vehicle powertrain are investigated. It is found that significant improvements in the operation of the powertrain are impossible, due to some of the features of the vehicle model and constraints placed upon the control strategy. Conclusions are then drawn, for the work done in the field of hybrid vehicle powertrain control and, also, for the work done in adaptive methods of fuzzy control. The most significant contribution in the field of hybrid powertrain control is the development of a controller that can adapt to the habits of different users. The most significant contribution in the field of fuzzy control is the form of the basic hybrid powertrain controller and the use of small fuzzy controllers in the powertrain controller adaptation strategy

SVM-Based Negative Data Mining to Binary Classification

The properties of training data set such as size, distribution and the number of attributes significantly contribute to the generalization error of a learning machine. A not well-distributed data set is prone to lead to a partial overfitting model. Two approaches proposed in this dissertation for the binary classification enhance useful data information by mining negative data. First, an error driven compensating hypothesis approach is based on Support Vector Machines (SVMs) with (1+k)-iteration learning, where the base learning hypothesis is iteratively compensated k times. This approach produces a new hypothesis on the new data set in which each label is a transformation of the label from the negative data set, further producing the positive and negative child data subsets in subsequent iterations. This procedure refines the base hypothesis by the k child hypotheses created in k iterations. A prediction method is also proposed to trace the relationship between negative subsets and testing data set by a vector similarity technique. Second, a statistical negative example learning approach based on theoretical analysis improves the performance of the base learning algorithm learner by creating one or two additional hypotheses audit and booster to mine the negative examples output from the learner. The learner employs a regular Support Vector Machine to classify main examples and recognize which examples are negative. The audit works on the negative training data created by learner to predict whether an instance is negative. However, the boosting learning booster is applied when audit does not have enough accuracy to judge learner correctly. Booster works on training data subsets with which learner and audit do not agree. The classifier for testing is the combination of learner, audit and booster. The classifier for testing a specific instance returns the learner\u27s result if audit acknowledges learner\u27s result or learner agrees with audit\u27s judgment, otherwise returns the booster\u27s result. The error of the classifier is decreased to O(e^2) comparing to the error O(e) of a base learning algorithm

Intelligent Control Strategies for an Autonomous Underwater Vehicle

The dynamic characteristics of autonomous underwater vehicles (AUVs) present a control problem that classical methods cannot often accommodate easily. Fundamentally, AUV dynamics are highly non-linear, and the relative similarity between the linear and angular velocities about each degree of freedom means that control schemes employed within other flight vehicles are not always applicable. In such instances, intelligent control strategies offer a more sophisticated approach to the design of the control algorithm. Neurofuzzy control is one such technique, which fuses the beneficial properties of neural networks and fuzzy logic in a hybrid control architecture. Such an approach is highly suited to development of an autopilot for an AUV. Specifically, the adaptive network-based fuzzy inference system (ANFIS) is discussed in Chapter 4 as an effective new approach for neurally tuning course-changing fuzzy autopilots. However, the limitation of this technique is that it cannot be used for developing multivariable fuzzy structures. Consequently, the co-active ANFIS (CANFIS) architecture is developed and employed as a novel multi variable AUV autopilot within Chapter 5, whereby simultaneous control of the AUV yaw and roll channels is achieved. Moreover, this structure is flexible in that it is extended in Chapter 6 to perform on-line control of the AUV leading to a novel autopilot design that can accommodate changing vehicle pay loads and environmental disturbances. Whilst the typical ANFIS and CANFIS structures prove effective for AUV control system design, the well known properties of radial basis function networks (RBFN) offer a more flexible controller architecture. Chapter 7 presents a new approach to fuzzy modelling and employs both ANFIS and CANFIS structures with non-linear consequent functions of composite Gaussian form. This merger of CANFIS and a RBFN lends itself naturally to tuning with an extended form of the hybrid learning rule, and provides a very effective approach to intelligent controller development.The Sea Systems and Platform Integration Sector, Defence Evaluation and Research Agency, Winfrit

Humanoid Robots

For many years, the human being has been trying, in all ways, to recreate the complex mechanisms that form the human body. Such task is extremely complicated and the results are not totally satisfactory. However, with increasing technological advances based on theoretical and experimental researches, man gets, in a way, to copy or to imitate some systems of the human body. These researches not only intended to create humanoid robots, great part of them constituting autonomous systems, but also, in some way, to offer a higher knowledge of the systems that form the human body, objectifying possible applications in the technology of rehabilitation of human beings, gathering in a whole studies related not only to Robotics, but also to Biomechanics, Biomimmetics, Cybernetics, among other areas. This book presents a series of researches inspired by this ideal, carried through by various researchers worldwide, looking for to analyze and to discuss diverse subjects related to humanoid robots. The presented contributions explore aspects about robotic hands, learning, language, vision and locomotion

A Framework for Prognostics Reasoning

The use of system data to make predictions about the future system state commonly known as prognostics is a rapidly developing field. Prognostics seeks to build on current diagnostic equipment capabilities for its predictive capability. Many military systems including the Joint Strike Fighter (JSF) are planning to include on-board prognostics systems to enhance system supportability and affordability. Current research efforts supporting these developments tend to focus on developing a prognostic tool for one specific system component. This dissertation research presents a comprehensive literature review of these developing research efforts. It also develops presents a mathematical model for the optimum allocation of prognostics sensors and their associated classifiers on a given system and all of its components. The model assumptions about system criticality are consistent with current industrial philosophies. This research also develops methodologies for combine sensor classifiers to allow for the selection of the best sensor ensemble

Machine learning approaches to complex time series

It has been noted that there are numerous similarities between the behaviour of chaotic and stochastic systems. The theoretical links between chaotic and stochastic systems are investigated based on the evolution of the density of dynamics and an equivalency relationship based on the invariant measure of an ergodic system. It is shown that for simple chaotic systems an equivalent stochastic model can be analytically derived when the initial position in state space is only known to a limited precision. Based on this a new methodology for the modelling of complex nonlinear time series displaying chaotic behaviour with stochastic models is proposed. This consists of using a stochastic model to learn the evolution of the density of the dynamics of the chaotic system by estimating initial and transitional density functions directly from a time series. A number of models utilising this methodology are proposed, based on Markov chains and hidden Markov models. These are implemented and their performance and characteristics compared using computer simulation with several standard techniques