Adaptive Neuro-Genetic Control of Chaos applied to the Attitude Control Problem

Conventional adaptive control techniques have, for the most part, been based on methods for linear or weakly non-linear systems. More recently, neural network and genetic algorithm controllers have started to be applied to complex, non-linear dynamic systems. The control of chaotic dynamic systems poses a series of especially challenging problems. In this paper, an adaptive control architecture using neural networks and genetic algorithms is applied to a complex, highly nonlinear, chaotic dynamic system: the adaptive attitude control problem (for a satellite), in the presence of large, external forces (which left to themselves led the system into a chaotic motion). In contrast to the OGY method, which uses small control adjustments to stabilize a chaotic system in an otherwise unstable but natural periodic orbit of the system, the neuro-genetic controller may use large control adjustments and proves capable of effectively attaining any specified system state, with no a prioriknowledge of the dynamics, even in the presence of significant noise

Genetic Programming for Prediction and Control

The relatively ‘new’ field of genetic programming has received a lot of attention during the last few years. This is because of its potential for generating functions which are able to solve specific problems. This paper begins with an extensive overview of the field, highlighting its power and limitations and providing practical tips and techniques for the successful application of genetic programming in general domains. Following this, emphasis is placed on the application of genetic programming to prediction and control. These two domains are of extreme importance in many disciplines. Results are presented for an oral cancer prediction task and a satellite attitude control problem. Finally, the paper discusses how the convergence of genetic programming can be significantly speeded up through bulk synchronous model parallelisation

Neuro-Genetic Adaptive Attitude Control

It has previously been demonstrated that for smooth dynamic systems, using relatively few sample points from a single trajectory, a neural network can be trained to perform very accurate short-term prediction over a large part of the phase space. In this paper, we exploit the capability of a Locally Predictive Network (LPN) to derive an adaptive control architecture for a satellite equipped with controllable, bidirectional thrusters on each of the three principal axes. It is assumed that a hardware implementation of the neural network is available. The inputs for the network are a small history of system states up to the present time and a set of current control inputs, the outputs are the next system state. Once the LPN has been trained successfully, at each time step a genetic algorithm searches the space of hypothetical control inputs. Given a set of control signals, the LPN is used to predict the state of the system at the next sample point. This enables the ‘fitness’ of each set of hypothetical control torques to be evaluated very rapidly. In effect, the genetic algorithm determines a satisfactory solution to the inverse kinematic problem in time to apply the solution (set of control torques) at the next control point. With the exception of the neuromodelling (which is repeated only when the system dynamics change), the whole process is then repeated. The results presented indicate that such an architecture is easily able to master the attitude control problem for arbitrary slew angles, with arbitrary a priori unknowndynamics and noise in the sensor system