Control of a Robotic Wheelchair Using Recurrent Networks

This paper describes an adaptive neural control system for governing the movements of a robotic wheelchair. It presents a new model of recurrent neural network based on a RBF architecture and combining in its architecture local recurrence and synaptic connections with FIR filters. This model is used in two different control architectures to command the movements of a robotic wheelchair. The training equations and the stability conditions of the control system are obtained. Practical tests show that the results achieved using the proposed method are better than those obtained using PID controllers or other recurrent neural networks models     

PID神经元网络多变量控制系统分析

PID神经元网络是一种新的多层前向神经元网络,其隐含层单元分别为比例(P)、积 分(I)、微分(D)单元,各层神经元个数、连接方式、连接权初值是按PID控制规律的基本原则 确定的,它可以用于多变量系统的解耦控制.给出了PID神经元网络的结构形式和计算方 法,从理论上证明了PID神经元网络多变量控制系统的收敛件和稳定性,通过计算机仿真证 明了PID神经元网络具有良好的自学习和自适应解耦控制性能.     

Adaptive Control of Space Structures via Recurrent Neural Networks

The paper presents a study on the adaptive control of large space structures, based on the use of real time recurrent neural networks. The controller relies on two interconnected neural networks. One is used for system identification and works in parallel with the real structure. The other performs the actual control task, and feeds back onto the structure and the identification net. The two networks are trained on line, with their synaptic weights adapting to time varying system configurations. A series of numerical examples on the model of a large structure provides the basis for understanding the performances and robustness of the method proposed, and indicates the feasibility of real on line applications. This revised version was published online in July 2006 with corrections to the Cover Date.     

An Application of a Neural Self-Tuning Controller to an Overhead Crane

A neural network-based self-tuning controller is presented. The scheme of the controller is based on using a multilayer perceptron, or a set of them, as a self-tuner for a controller. The method proposed has the advantage that it is not necessary to use a combined structure of identification and decision, common in a standard self-tuning controller. The paper explains the algorithm for a general case, and then a specific application on a nonlinear plant is presented. The plant is an overhead crane which involves an interesting control problem related to the oscillations of the load mass. The method proposed is tested by simulation in different conditions. A comparison was made with a conventional controller to evaluate the efficiency of the algorithm.     

CMAC(小脑模型)神经计算与神经控制

CMAC神经网络是局部学习网络,结构简单,收敛速度快,易于软件和和硬件实现 ,具有广泛的应用前景．本文综述了CMAC神经网络结构和算法,以及在控制中的应用,指出 了CMAC神经计算和神经控制发展方向及在实际应用中需解决的问题．     

航天器非线性神经元控制方法研究

针对航天器控制问题,提出了一种非线性动态逆与状态反馈控制相结合的神经元控制系统设计方案,并成功的将其应用于登月舱软着陆过程的控制问题.该方案包含两部分:①应用神经元网络通过学习建立被控系统的非线性动态逆模型,实现被控非线性系统的线性化;②在线性化模型的基础上构造系统的神经元最优状态反馈控制器.本文给出的仿真结果显示出神经计算学在航天器控制问题中所具有的潜在能力.     

基于神经网络的自动控制系统

神经网络具有信息分布存储、并行处理以及自学习能力等优点,在信息处理、模式识别,智能控制等领域有广阔的发展前景,神经网络控制所具有的逼近非线性函数的能力使其在应用中更具多样性和灵活性。     

神经控制器的典型结构

本文研究了神经控制的典型结构方案，包括神经学习控制，神经直接逆控制，神经自适应控制，神经内模控制，神经预测控制，基于小脑模型联接控制（ＣＭＡＣ），多层神经控制和递阶神经控制等，文中着重讨论了控制机理，提供了潜在应用基础，对神经控制器结构方案的确定具有借鉴作用。     

人工免疫网络的改进及其在免疫神经控制中的应用

针对人工免疫网络(AIN)搜索能力不强的问题,通过引入新生抗体的进化环节,用遗传算子代替克隆变异作为主要的搜索手段,增强了网络的搜索能力.改进网络被用于免疫神经控制中抽取控制经验,形成知识库,并指导遗传算法在线搜索.仿真结果表明,改进后人工免疫网络的搜索能力得到较大提高;通过引入经验指导,能加快遗传算法的收敛速度,进一步增强了免疫神经控制的实时性.