On-line nonparametric regression to learn state-dependent disturbances

A combination of recursive least squares and weighted least squares is made which can adapt its structure such that a relation between in- and output can he approximated, even when the structure of this relation is unknown beforehand.\ud This method can adapt its structure on-line while it preserves information offered by previous samples, making it applicable in a control setting. This method has been tested with compntergenerated data, and it b used in a simulation to learn the non-linear state-dependent effects, both with good success

The time dimension of neural network models

This review attempts to provide an insightful perspective on the role of time within neural network models and the use of neural networks for problems involving time. The most commonly used neural network models are defined and explained giving mention to important technical issues but avoiding great detail. The relationship between recurrent and feedforward networks is emphasised, along with the distinctions in their practical and theoretical abilities. Some practical examples are discussed to illustrate the major issues concerning the application of neural networks to data with various types of temporal structure, and finally some highlights of current research on the more difficult types of problems are presented

Improved sign-based learning algorithm derived by the composite nonlinear Jacobi process

In this paper a globally convergent first-order training algorithm is proposed that uses sign-based information of the batch error measure in the framework of the nonlinear Jacobi process. This approach allows us to equip the recently proposed Jacobi–Rprop method with the global convergence property, i.e. convergence to a local minimizer from any initial starting point. We also propose a strategy that ensures the search direction of the globally convergent Jacobi–Rprop is a descent one. The behaviour of the algorithm is empirically investigated in eight benchmark problems. Simulation results verify that there are indeed improvements on the convergence success of the algorithm

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