A New Optimization Algorithm for Single Hidden Layer Feedforward Neural Networks

Feedforward neural networks are the most commonly used function approximation techniques in neural networks. By the universal approximation theorem, it is clear that a single-hidden layer feedforward neural network (FNN) is sufficient to approximate the corresponding desired outputs arbitrarily close. Some researchers use genetic algorithms (GAs) to explore the global optimal solution of the FNN structure. However, it is rather time consuming to use GA for the training of FNN. In this paper, we propose a new optimization algorithm for a single-hidden layer FNN. The method is based on the convex combination algorithm for massaging information in the hidden layer. In fact, this technique explores a continuum idea which combines the classic mutation and crossover strategies in GA together. The proposed method has the advantage over GA which requires a lot of preprocessing works in breaking down the data into a sequence of binary codes before learning or mutation can apply. Also, we set up a new error function to measure the performance of the FNN and obtain the optimal choice of the connection weights and thus the nonlinear optimization problem can be solved directly. Several computational experiments are used to illustrate the proposed algorithm, which has good exploration and exploitation capabilities in search of the optimal weight for single hidden layer FNNs

Neural Networks: Training and Application to Nonlinear System Identification and Control

This dissertation investigates training neural networks for system identification and classification. The research contains two main contributions as follow:1. Reducing number of hidden layer nodes using a feedforward componentThis research reduces the number of hidden layer nodes and training time of neural networks to make them more suited to online identification and control applications by adding a parallel feedforward component. Implementing the feedforward component with a wavelet neural network and an echo state network provides good models for nonlinear systems.The wavelet neural network with feedforward component along with model predictive controller can reliably identify and control a seismically isolated structure during earthquake. The network model provides the predictions for model predictive control. Simulations of a 5-story seismically isolated structure with conventional lead-rubber bearings showed significant reductions of all response amplitudes for both near-field (pulse) and far-field ground motions, including reduced deformations along with corresponding reduction in acceleration response. The controller effectively regulated the apparent stiffness at the isolation level. The approach is also applied to the online identification and control of an unmanned vehicle. Lyapunov theory is used to prove the stability of the wavelet neural network and the model predictive controller. 2. Training neural networks using trajectory based optimization approachesTraining neural networks is a nonlinear non-convex optimization problem to determine the weights of the neural network. Traditional training algorithms can be inefficient and can get trapped in local minima. Two global optimization approaches are adapted to train neural networks and avoid the local minima problem. Lyapunov theory is used to prove the stability of the proposed methodology and its convergence in the presence of measurement errors. The first approach transforms the constraint satisfaction problem into unconstrained optimization. The constraints define a quotient gradient system (QGS) whose stable equilibrium points are local minima of the unconstrained optimization. The QGS is integrated to determine local minima and the local minimum with the best generalization performance is chosen as the optimal solution. The second approach uses the QGS together with a projected gradient system (PGS). The PGS is a nonlinear dynamical system, defined based on the optimization problem that searches the components of the feasible region for solutions. Lyapunov theory is used to prove the stability of PGS and QGS and their stability under presence of measurement noise

Predictive Behavior of a Computational Foot/Ankle Model through Artificial Neural Networks

Computational models are useful tools to study the biomechanics of human joints. Their predictive performance is heavily dependent on bony anatomy and soft tissue properties. Imaging data provides anatomical requirements while approximate tissue properties are implemented from literature data, when available. We sought to improve the predictive capability of a computational foot/ankle model by optimizing its ligament stiffness inputs using feedforward and radial basis function neural networks. While the former demonstrated better performance than the latter per mean square error, both networks provided reasonable stiffness predictions for implementation into the computational model

PSO based Neural Networks vs. Traditional Statistical Models for Seasonal Time Series Forecasting

Seasonality is a distinctive characteristic which is often observed in many practical time series. Artificial Neural Networks (ANNs) are a class of promising models for efficiently recognizing and forecasting seasonal patterns. In this paper, the Particle Swarm Optimization (PSO) approach is used to enhance the forecasting strengths of feedforward ANN (FANN) as well as Elman ANN (EANN) models for seasonal data. Three widely popular versions of the basic PSO algorithm, viz. Trelea-I, Trelea-II and Clerc-Type1 are considered here. The empirical analysis is conducted on three real-world seasonal time series. Results clearly show that each version of the PSO algorithm achieves notably better forecasting accuracies than the standard Backpropagation (BP) training method for both FANN and EANN models. The neural network forecasting results are also compared with those from the three traditional statistical models, viz. Seasonal Autoregressive Integrated Moving Average (SARIMA), Holt-Winters (HW) and Support Vector Machine (SVM). The comparison demonstrates that both PSO and BP based neural networks outperform SARIMA, HW and SVM models for all three time series datasets. The forecasting performances of ANNs are further improved through combining the outputs from the three PSO based models.Comment: 4 figures, 4 tables, 31 references, conference proceeding

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