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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
Freeze-drying modeling and monitoring using a new neuro-evolutive technique
This paper is focused on the design of a black-box model for the process of freeze-drying of pharmaceuticals. A new methodology based on a self-adaptive differential evolution scheme is combined with a back-propagation algorithm, as local search method, for the simultaneous structural and parametric optimization of the model represented by a neural network. Using the model of the freeze-drying process, both the temperature and the residual ice content in the product vs. time can be determine off-line, given the values of the operating conditions (the temperature of the heating shelf and the pressure in the drying chamber). This makes possible to understand if the maximum temperature allowed by the product is trespassed and when the sublimation drying is complete, thus providing a valuable tool for recipe design and optimization. Besides, the black box model can be applied to monitor the freeze-drying process: in this case, the measurement of product temperature is used as input variable of the neural network in order to provide in-line estimation of the state of the product (temperature and residual amount of ice). Various examples are presented and discussed, thus pointing out the strength of the too
Fleet Prognosis with Physics-informed Recurrent Neural Networks
Services and warranties of large fleets of engineering assets is a very
profitable business. The success of companies in that area is often related to
predictive maintenance driven by advanced analytics. Therefore, accurate
modeling, as a way to understand how the complex interactions between operating
conditions and component capability define useful life, is key for services
profitability. Unfortunately, building prognosis models for large fleets is a
daunting task as factors such as duty cycle variation, harsh environments,
inadequate maintenance, and problems with mass production can lead to large
discrepancies between designed and observed useful lives. This paper introduces
a novel physics-informed neural network approach to prognosis by extending
recurrent neural networks to cumulative damage models. We propose a new
recurrent neural network cell designed to merge physics-informed and
data-driven layers. With that, engineers and scientists have the chance to use
physics-informed layers to model parts that are well understood (e.g., fatigue
crack growth) and use data-driven layers to model parts that are poorly
characterized (e.g., internal loads). A simple numerical experiment is used to
present the main features of the proposed physics-informed recurrent neural
network for damage accumulation. The test problem consist of predicting fatigue
crack length for a synthetic fleet of airplanes subject to different mission
mixes. The model is trained using full observation inputs (far-field loads) and
very limited observation of outputs (crack length at inspection for only a
portion of the fleet). The results demonstrate that our proposed hybrid
physics-informed recurrent neural network is able to accurately model fatigue
crack growth even when the observed distribution of crack length does not match
with the (unobservable) fleet distribution.Comment: Data and codes (including our implementation for both the multi-layer
perceptron, the stress intensity and Paris law layers, the cumulative damage
cell, as well as python driver scripts) used in this manuscript are publicly
available on GitHub at https://github.com/PML-UCF/pinn. The data and code are
released under the MIT Licens
Differential Dynamic Programming for time-delayed systems
Trajectory optimization considers the problem of deciding how to control a
dynamical system to move along a trajectory which minimizes some cost function.
Differential Dynamic Programming (DDP) is an optimal control method which
utilizes a second-order approximation of the problem to find the control. It is
fast enough to allow real-time control and has been shown to work well for
trajectory optimization in robotic systems. Here we extend classic DDP to
systems with multiple time-delays in the state. Being able to find optimal
trajectories for time-delayed systems with DDP opens up the possibility to use
richer models for system identification and control, including recurrent neural
networks with multiple timesteps in the state. We demonstrate the algorithm on
a two-tank continuous stirred tank reactor. We also demonstrate the algorithm
on a recurrent neural network trained to model an inverted pendulum with
position information only.Comment: 7 pages, 6 figures, conference, Decision and Control (CDC), 2016 IEEE
55th Conference o
Reduced Order Modeling for Nonlinear PDE-constrained Optimization using Neural Networks
Nonlinear model predictive control (NMPC) often requires real-time solution
to optimization problems. However, in cases where the mathematical model is of
high dimension in the solution space, e.g. for solution of partial differential
equations (PDEs), black-box optimizers are rarely sufficient to get the
required online computational speed. In such cases one must resort to
customized solvers. This paper present a new solver for nonlinear
time-dependent PDE-constrained optimization problems. It is composed of a
sequential quadratic programming (SQP) scheme to solve the PDE-constrained
problem in an offline phase, a proper orthogonal decomposition (POD) approach
to identify a lower dimensional solution space, and a neural network (NN) for
fast online evaluations. The proposed method is showcased on a regularized
least-square optimal control problem for the viscous Burgers' equation. It is
concluded that significant online speed-up is achieved, compared to
conventional methods using SQP and finite elements, at a cost of a prolonged
offline phase and reduced accuracy.Comment: Accepted for publishing at the 58th IEEE Conference on Decision and
Control, Nice, France, 11-13 December, https://cdc2019.ieeecss.org
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