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

Energy rating of a water pumping station using multivariate analysis

Among water management policies, the preservation and the saving of energy demand in water supply and treatment systems play key roles. When focusing on energy, the customary metric to determine the performance of water supply systems is linked to the definition of component-based energy indicators. This approach is unfit to account for interactions occurring among system elements or between the system and its environment. On the other hand, the development of information technology has led to the availability of increasing large amount of data, typically gathered from distributed sensor networks in so-called smart grids. In this context, data intensive methodologies address the possibility of using complex network modeling approaches, and advocate the issues related to the interpretation and analysis of large amount of data produced by smart sensor networks. In this perspective, the present work aims to use data intensive techniques in the energy analysis of a water management network. The purpose is to provide new metrics for the energy rating of the system and to be able to provide insights into the dynamics of its operations. The study applies neural network as a tool to predict energy demand, when using flowrate and vibration data as predictor variables

Multi-step learning rule for recurrent neural models: an application to time series forecasting

Multi-step prediction is a difficult task that has attracted increasing interest in recent years. It tries to achieve predictions several steps ahead into the future starting from current information. The interest in this work is the development of nonlinear neural models for the purpose of building multi-step time series prediction schemes. In that context, the most popular neural models are based on the traditional feedforward neural networks. However, this kind of model may present some disadvantages when a long-term prediction problem is formulated because they are trained to predict only the next sampling time. In this paper, a neural model based on a partially recurrent neural network is proposed as a better alternative. For the recurrent model, a learning phase with the purpose of long-term prediction is imposed, which allows to obtain better predictions of time series in the future. In order to validate the performance of the recurrent neural model to predict the dynamic behaviour of the series in the future, three different data time series have been used as study cases. An artificial data time series, the logistic map, and two real time series, sunspots and laser data. Models based on feedforward neural networks have also been used and compared against the proposed model. The results suggest than the recurrent model can help in improving the prediction accuracy.Publicad

On neural networks in identification and control of dynamic systems

This paper presents a discussion of the applicability of neural networks in the identification and control of dynamic systems. Emphasis is placed on the understanding of how the neural networks handle linear systems and how the new approach is related to conventional system identification and control methods. Extensions of the approach to nonlinear systems are then made. The paper explains the fundamental concepts of neural networks in their simplest terms. Among the topics discussed are feed forward and recurrent networks in relation to the standard state-space and observer models, linear and nonlinear auto-regressive models, linear, predictors, one-step ahead control, and model reference adaptive control for linear and nonlinear systems. Numerical examples are presented to illustrate the application of these important concepts

Wind Power Forecasting Methods Based on Deep Learning: A Survey

Accurate wind power forecasting in wind farm can effectively reduce the enormous impact on grid operation safety when high permeability intermittent power supply is connected to the power grid. Aiming to provide reference strategies for relevant researchers as well as practical applications, this paper attempts to provide the literature investigation and methods analysis of deep learning, enforcement learning and transfer learning in wind speed and wind power forecasting modeling. Usually, wind speed and wind power forecasting around a wind farm requires the calculation of the next moment of the definite state, which is usually achieved based on the state of the atmosphere that encompasses nearby atmospheric pressure, temperature, roughness, and obstacles. As an effective method of high-dimensional feature extraction, deep neural network can theoretically deal with arbitrary nonlinear transformation through proper structural design, such as adding noise to outputs, evolutionary learning used to optimize hidden layer weights, optimize the objective function so as to save information that can improve the output accuracy while filter out the irrelevant or less affected information for forecasting. The establishment of high-precision wind speed and wind power forecasting models is always a challenge due to the randomness, instantaneity and seasonal characteristics

Behavioural pattern identification and prediction in intelligent environments

In this paper, the application of soft computing techniques in prediction of an occupant's behaviour in an inhabited intelligent environment is addressed. In this research, daily activities of elderly people who live in their own homes suffering from dementia are studied. Occupancy sensors are used to extract the movement patterns of the occupant. The occupancy data is then converted into temporal sequences of activities which are eventually used to predict the occupant behaviour. To build the prediction model, different dynamic recurrent neural networks are investigated. Recurrent neural networks have shown a great ability in finding the temporal relationships of input patterns. The experimental results show that non-linear autoregressive network with exogenous inputs model correctly extracts the long term prediction patterns of the occupant and outperformed the Elman network. The results presented here are validated using data generated from a simulator and real environments