Neural Network inverse Adaptive Controller Based on Davidon Least Square |
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作者单位: | Department of Computer & System Science, Nankal University, Tianjin, 300071, P. R. Chins
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基金项目: | Tianjin Natural Science Foundation !983602011,National 863/CIMS Research Foundation !863-511-945-010 |
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摘 要: | 1.IWTaoDUCTIONInrecedeyears,therisingofneuralnetworkcolltrolsuppliesanovelandeffectivemeansforthecontrollingoftheplatwhichhasstrongnonlinearproperty.Thereillto,theneuralnetworkinversecoDtrollersucceededincolltrollingofrobotisasakindofAnportatcolltrolstructure.Battheinversecolltrolschemecannotbeusedincolltrollingofnon-~mumphasesystemduetothenon-stabilityofinversemodelofit.Inaddition,attheaspectofneuralnetworktrainalgorithm,thetraditionalbed-propagationalgoritlunconvergesveryslow.Thesefacto…
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Neural Network Inverse Adaptive Controller Based on Davidon Least Square |
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Authors: | Chen Zengqiang Lu Zhao Yuan Zhuzhi |
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Abstract: | General neural network inverse adaptive controller has two flaws: the first is the slow convergence speed; the second is the invalidation to the non-minimum phase system. These defects limit the scope in which the neural network inverse adaptive controller is used. We employ Davidon least squares in training the multi-layer feedforward neural network used in approximating the inversemodel of plant to expedite the convergence, and then through constructing the pseudryplant, a neural network inverse adaptive controller is put forward which is still effective to the nonlinear non-minimum phase system. The simulation results show the acidity of this scheme. |
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Keywords: | Neural network Adaptive control Davidon least squares Inverse control |
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