Title :
Learning in an adaptive backthrough control structure
Author :
Kecman, Vojislav
Author_Institution :
Dept. of Mech. Eng., Auckland Univ., New Zealand
Abstract :
The paper presents a neural network (NN) based adaptive backthrough control (ABC) scheme for both linear and nonlinear dynamic plants. Unlike other feedforward NN based control schemes the ABC comprises of one neural network which simultaneously acts as both plant model (emulator) and the controller (inverse of the emulator). For linear plants, without noise, the resulting feedforward controller, providing that the order of the plant and plant model are equal, is a perfect adaptive poles-zeros canceller. In the case of a nonlinear dynamic system, and for the monotonic nonlinearity, the proposed ABC control represents the nonlinear predictive controller. The ABC scheme is based on the discrete nonlinear (NARMAX) dynamic model. For such models and for monotonic nonlinearity, the calculation of the desired control signal is the result of the nonlinear optimization procedure with a guaranteed convex search function and consequently with a unique solution
Keywords :
adaptive control; feedforward neural nets; learning (artificial intelligence); linear systems; neurocontrollers; nonlinear control systems; nonlinear dynamical systems; optimisation; poles and zeros; predictive control; NARMAX; adaptive backthrough control structure; adaptive poles-zeros canceller; convex search function; discrete nonlinear dynamic model; feedforward neural net based control; learning; linear dynamic plants; monotonic nonlinearity; neural networks; nonlinear dynamic plants; nonlinear dynamic system; nonlinear optimization procedure; nonlinear predictive controller; plant model; Adaptive control; Adaptive systems; Control systems; Electronic mail; Intelligent networks; Mechanical engineering; Neural networks; Nonlinear control systems; Nonlinear dynamical systems; Programmable control;
Conference_Titel :
Algorithms and Architectures for Parallel Processing, 1997. ICAPP 97., 1997 3rd International Conference on
Conference_Location :
Melbourne, Vic.
Print_ISBN :
0-7803-4229-1
DOI :
10.1109/ICAPP.1997.651527