Adaptive Control

Adaptive control has been a remarkable field for industrial and academic research since 1950s. Since more and more adaptive algorithms are applied in various control applications, it is becoming very important for practical implementation. As it can be confirmed from the increasing number of conferences and journals on adaptive control topics, it is certain that the adaptive control is a significant guidance for technology development.The authors the chapters in this book are professionals in their areas and their recent research results are presented in this book which will also provide new ideas for improved performance of various control application problems

On the robustness of the slotine-Li and the FPT/SVD-based adaptive controllers

A comparative study concerning the robustness of a novel, Fixed Point Transformations/Singular Value Decomposition (FPT/SVD)-based adaptive controller and the Slotine-Li (S&L) approach is given by numerical simulations using a three degree of freedom paradigm of typical Classical Mechanical systems, the cart + double pendulum. The effects of the imprecision of the available dynamical model, presence of dynamic friction at the axles of the drives, and the existence of external disturbance forces unknown and not modeled by the controller are considered. While the Slotine-Li approach tries to identify the parameters of the formally precise, available analytical model of the controlled system with the implicit assumption that the generalized forces are precisely known, the novel one makes do with a very rough, affine form and a formally more precise approximate model of that system, and uses temporal observations of its desired vs. realized responses. Furthermore, it does not assume the lack of unknown perturbations caused either by internal friction and/or external disturbances. Its another advantage is that it needs the execution of the SVD as a relatively time-consuming operation on a grid of a rough system-model only one time, before the commencement of the control cycle within which it works only with simple computations. The simulation examples exemplify the superiority of the FPT/SVD-based control that otherwise has the deficiency that it can get out of the region of its convergence. Therefore its design and use needs preliminary simulation investigations. However, the simulations also exemplify that its convergence can be guaranteed for various practical purposes

Hierarchical modeling of multi-scale dynamical systems using adaptive radial basis function neural networks: application to synthetic jet actuator wing

To obtain a suitable mathematical model of the input-output behavior of highly nonlinear, multi-scale, nonparametric phenomena, we introduce an adaptive radial basis function approximation approach. We use this approach to estimate the discrepancy between traditional model areas and the multiscale physics of systems involving distributed sensing and technology. Radial Basis Function Networks offers the possible approach to nonparametric multi-scale modeling for dynamical systems like the adaptive wing with the Synthetic Jet Actuator (SJA). We use the Regularized Orthogonal Least Square method (Mark, 1996) and the RAN-EKF (Resource Allocating Network-Extended Kalman Filter) as a reference approach. The first part of the algorithm determines the location of centers one by one until the error goal is met and regularization is achieved. The second process includes an algorithm for the adaptation of all the parameters in the Radial Basis Function Network, centers, variances (shapes) and weights. To demonstrate the effectiveness of these algorithms, SJA wind tunnel data are modeled using this approach. Good performance is obtained compared with conventional neural networks like the multi layer neural network and least square algorithm. Following this work, we establish Model Reference Adaptive Control (MRAC) formulations using an off-line Radial Basis Function Networks (RBFN). We introduce the adaptive control law using a RBFN. A theory that combines RBFN and adaptive control is demonstrated through the simple numerical simulation of the SJA wing. It is expected that these studies will provide a basis for achieving an intelligent control structure for future active wing aircraft

Controller Design for a Second-Order Plant with Uncertain Parameters and Disturbance: Application to a DC Motor

This paper shows the controller design for a second-order plant with unknown varying behavior in the parameters and in the disturbance. The state adaptive backstepping technique is used as control framework, but important modifications are introduced. The controller design achieves mainly the following two benefits: upper or lower bounds of the time-varying parameters of the model are not required, and the formulation of the control and update laws and stability analysis are simpler than closely related works that use the Nussbaum gain method. The controller has been developed and tested for a DC motor speed control and it has been implemented in a Rapid Control Prototyping system based on Digital Signal Processing for dSPACE platform. The motor speed converges to a predefined desired output signal

Adaptive TSK-type self-evolving neural control for unknown nonlinear systems

[[abstract]]In this paper, a real-time approximator using a TSK-type self-evolving neural network (TSNN) is studied. The learning algorithm of the proposed TSNN not only automatically online generates and prunes the hidden neurons but also online adjusts the network parameters.[[conferencetype]]國際[[conferencedate]]20120918~20120921[[booktype]]電子版[[iscallforpapers]]Y[[conferencelocation]]Tokyo, Japa

Adaptive TSK-type self-evolving neural control for unknown nonlinear systems

[[abstract]]In this paper, a real-time approximator using a TSK-type self-evolving neural network (TSNN) is studied. The learning algorithm of the proposed TSNN not only automatically online generates and prunes the hidden neurons but also online adjusts the network parameters.[[incitationindex]]EI[[conferencetype]]國際[[conferencedate]]20120918~20120922[[booktype]]電子版[[iscallforpapers]]Y[[conferencelocation]]Japan,Toky

Advances in Reinforcement Learning

Reinforcement Learning (RL) is a very dynamic area in terms of theory and application. This book brings together many different aspects of the current research on several fields associated to RL which has been growing rapidly, producing a wide variety of learning algorithms for different applications. Based on 24 Chapters, it covers a very broad variety of topics in RL and their application in autonomous systems. A set of chapters in this book provide a general overview of RL while other chapters focus mostly on the applications of RL paradigms: Game Theory, Multi-Agent Theory, Robotic, Networking Technologies, Vehicular Navigation, Medicine and Industrial Logistic

Artificial Intelligence-Based Methods for Power System Security Assessment with Limited Dataset

This thesis concerns the relationship between the load, load model, and power system stability. It investigates the possibility of developing a dynamic load model to represent the power system load characteristic during system faults when the power system operates at a high percentage of the power generation from wind farms, solar power, and vehicle-to-grid technology. Additionally, with artificial intelligence supporting the seamless integration of an increasingly distributed and multi-directional power system to unlock the vast potential of renewables, new approaches are proposed to improve the training performance for the applications of artificial neural networks in non-intrusive load monitoring and dynamic security assessment. An improved hybrid load model is proposed to represent the load characteristics in the above power system operation. Genetic algorithms and the multi-curve identification method are applied to determine the parameters of the load model, aiming to minimize the error between the estimated and measured values. The results indicate that the proposed hybrid load model has a reasonably low fitting error to represent the load dynamics. In addition, new approaches are proposed to tackle the challenges posed by limited data when training artificial neural networks (ANNs) for their application in power systems. The knowledge transfer approach is utilized to support the ANN training to generate synthetic data for non-intrusive load monitoring. The results indicate that this approach improves the issue of mode collapse and reduces the need for lengthy training iterations, making the ANN effective for generating synthetic data from limited data. Moreover, the knowledge transfer approach also supports ANN training with limited data for dynamic security assessment. Kernel principal component analysis is employed to eliminate the dimensionality reduction step. The results indicate an improvement in the training performance

Artificial Intelligence-Based Methods for Power System Security Assessment with Limited Dataset

This thesis concerns the relationship between the load, load model, and power system stability. It investigates the possibility of developing a dynamic load model to represent the power system load characteristic during system faults when the power system operates at a high percentage of the power generation from wind farms, solar power, and vehicle-to-grid technology. Additionally, with artificial intelligence supporting the seamless integration of an increasingly distributed and multi-directional power system to unlock the vast potential of renewables, new approaches are proposed to improve the training performance for the applications of artificial neural networks in non-intrusive load monitoring and dynamic security assessment. An improved hybrid load model is proposed to represent the load characteristics in the above power system operation. Genetic algorithms and the multi-curve identification method are applied to determine the parameters of the load model, aiming to minimize the error between the estimated and measured values. The results indicate that the proposed hybrid load model has a reasonably low fitting error to represent the load dynamics. In addition, new approaches are proposed to tackle the challenges posed by limited data when training artificial neural networks (ANNs) for their application in power systems. The knowledge transfer approach is utilized to support the ANN training to generate synthetic data for non-intrusive load monitoring. The results indicate that this approach improves the issue of mode collapse and reduces the need for lengthy training iterations, making the ANN effective for generating synthetic data from limited data. Moreover, the knowledge transfer approach also supports ANN training with limited data for dynamic security assessment. Kernel principal component analysis is employed to eliminate the dimensionality reduction step. The results indicate an improvement in the training performance