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Levenberg-Marquardt optimised neural networks for trajectory tracking of autonomous ground vehicles
Trajectory tracking is an essential capability of robotics operation in industrial automation. In this article, an artificial neural controller is proposed to tackle trajectory-tracking problem of an autonomous ground vehicle (AGV). The controller is implemented based on fractional order proportional integral derivative (FOPID) control that was already designed in an earlier work. A non-holonomic model type of AGV is analysed and presented. The model includes the kinematic, dynamic characteristics and the actuation system of the VGA. The artificial neural controller consists of two artificial neural networks (ANNs) that are designed to control the inputs of the AGV. In order to train the two artificial neural networks,
Levenberg-Marquardt (LM) algorithm was used to obtain the parameters of the ANNs. The validation of the proposed controller has been verified through a given reference trajectory. The obtained results show a considerable improvement in term of minimising trajectory tracking error
over the FOPID controller
Novel Levenberg–Marquardt based learning algorithm for unmanned aerial vehicles
In this paper, Levenberg–Marquardt inspired sliding mode control theory based adaptation laws are proposed to train an intelligent fuzzy neural network controller for a quadrotor aircraft. The proposed controller is used to control and stabilize a quadrotor unmanned aerial vehicle in the presence of periodic wind gust. A proportional-derivative controller is firstly introduced based on which fuzzy neural network is able to learn the quadrotor's control model on-line. The proposed design allows handling uncertainties and lack of modelling at a computationally inexpensive cost. The parameter update rules of the learning algorithms are derived based on a Levenberg–Marquardt inspired approach, and the proof of the stability of two proposed control laws are verified by using the Lyapunov stability theory. In order to evaluate the performance of the proposed controllers extensive simulations and real-time experiments are conducted. The 3D trajectory tracking problem for a quadrotor is considered in the presence of time-varying wind conditions
UNFIS: A Novel Neuro-Fuzzy Inference System with Unstructured Fuzzy Rules for Classification
An important constraint of Fuzzy Inference Systems (FIS) is their structured
rules defined based on evaluating all input variables. Indeed, the length of
all fuzzy rules and the number of input variables are equal. However, in many
decision-making problems evaluating some conditions on a limited set of input
variables is sufficient to decide properly (unstructured rules). Therefore,
this constraint limits the performance, generalization, and interpretability of
the FIS. To address this issue, this paper presents a neuro-fuzzy inference
system for classification applications that can select different sets of input
variables for constructing each fuzzy rule. To realize this capability, a new
fuzzy selector neuron with an adaptive parameter is proposed that can select
input variables in the antecedent part of each fuzzy rule. Moreover, in this
paper, the consequent part of the Takagi-Sugeno-Kang FIS is also changed
properly to consider only the selected set of input variables. To learn the
parameters of the proposed architecture, a trust-region-based learning method
(General quasi-Levenberg-Marquardt (GqLM)) is proposed to minimize
cross-entropy in multiclass problems. The performance of the proposed method is
compared with some related previous approaches in some real-world
classification problems. Based on these comparisons the proposed method has
better or very close performance with a parsimonious structure consisting of
unstructured fuzzy
NN approach and its comparison with NN-SVM to beta-barrel prediction
This paper is concerned with applications of a dual Neural Network (NN) and Support Vector Machine (SVM) to prediction and analysis of beta barrel trans membrane proteins. The prediction and analysis of beta barrel proteins usually offer a host of challenges to the research community, because of their low presence in genomes. Current beta barrel prediction methodologies present intermittent misclassifications resulting in mismatch in the number of membrane spanning regions within amino-acid sequences. To address the problem, this research embarks upon a NN technique and its comparison with hybrid- two-level NN-SVM methodology to classify inter-class and intra-class transitions to predict the number and range of beta membrane spanning regions. The methodology utilizes a sliding-window-based feature extraction to train two different class transitions entitled symmetric and asymmetric models. In symmet- ric modelling, the NN and SVM frameworks train for sliding window over the same intra-class areas such as inner-to-inner, membrane(beta)-to-membrane and outer-to-outer. In contrast, the asymmetric transi- tion trains a NN-SVM classifier for inter-class transition such as outer-to-membrane (beta) and membrane (beta)-to-inner, inner-to-membrane and membrane-to-outer. For the NN and NN-SVM to generate robust outcomes, the prediction methodologies are analysed by jack-knife tests and single protein tests. The computer simulation results demonstrate a significant impact and a superior performance of NN-SVM tests with a 5 residue overlap for signal protein over NN with and without redundant proteins for pre- diction of trans membrane beta barrel spanning regions
Rainfall-rinoff model based on ANN with LM, BR and PSO as learning algorithms
Rainfall-runoff model requires comprehensive
computation as its relation is a complex natural phenomenon.
Various inter-related processes are involved with factors such as
rainfall intensity, geomorphology, climatic and landscape are all
affecting runoff response. In general there is no single rainfallrunoff model that can cater to all flood prediction system with
varying topological area. Hence, there is a vital need to have
custom-tailored prediction model with specific range of data, type
of perimeter and antecedent hour of prediction to meet the
necessity of the locality. In an attempt to model a reliable
rainfall-runoff system for a flood-prone area in Malaysia, 3
different approach of Artificial Neural Networks (ANN) are
modelled based on the data acquired from Sungai Pahang,
Pekan. In this paper, the ANN rainfall-runoff models are trained by the Levenberg Marquardt (LM), Bayesian Regularization (BR) and Particle Swarm Optimization (PSO). The performances of the learning algorithms are compared and evaluated based on a 12-hour prediction model. The results demonstrate that LM produces the best model. It outperforms BR and PSO in terms of convergence rate, lowest mean square error (MSE) and optimum coefficeint of correlation. Furthermore, the LM approach are free from overfitting, which is a crucial concern in conventional
ANN learning algorithm. Our case study takes the data of
rainfall and runoff from the year 2012 to 2014. This is a case
study in Pahang river basin, Pekan, Malaysia
Day-Ahead Load Demand Forecasting in Urban Community Cluster Microgrids Using Machine Learning Methods
© 2022 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).The modern-day urban energy sector possesses the integrated operation of various microgrids located in a vicinity, named cluster microgrids, which helps to reduce the utility grid burden. However, these cluster microgrids require a precise electric load projection to manage the operations, as the integrated operation of multiple microgrids leads to dynamic load demand. Thus, load forecasting is a complicated operation that requires more than statistical methods. There are different machine learning methods available in the literature that are applied to single microgrid cases. In this line, the cluster microgrids concept is a new application, which is very limitedly discussed in the literature. Thus, to identify the best load forecasting method in cluster microgrids, this article implements a variety of machine learning algorithms, including linear regression (quadratic), support vector machines, long short-term memory, and artificial neural networks (ANN) to forecast the load demand in the short term. The effectiveness of these methods is analyzed by computing various factors such as root mean square error, R-square, mean square error, mean absolute error, mean absolute percentage error, and time of computation. From this, it is observed that the ANN provides effective forecasting results. In addition, three distinct optimization techniques are used to find the optimum ANN training algorithm: Levenberg−Marquardt, Bayesian Regularization, and Scaled Conjugate Gradient. The effectiveness of these optimization algorithms is verified in terms of training, test, validation, and error analysis. The proposed system simulation is carried out using the MATLAB/Simulink-2021a® software. From the results, it is found that the Levenberg−Marquardt optimization algorithm-based ANN model gives the best electrical load forecasting results.Peer reviewe
A method for measuring the robustness of diagnostic models for predicting the break size during LOCA
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