In this paper, adaptive variable structure neural control is presented for a class of uncertain multi-input multi-output （MIMO） nonlinear systems with state time-varying delays and unknown nonlinear dead-zones. The ...In this paper, adaptive variable structure neural control is presented for a class of uncertain multi-input multi-output （MIMO） nonlinear systems with state time-varying delays and unknown nonlinear dead-zones. The unknown time-varying delay uncer- tainties are compensated for using appropriate Lyapunov-Krasovskii functionals in the design. The approach removes the assumption of linear function outside the deadband without necessarily constructing a dead-zone inverse as an added contribution. By utilizing the integral-type Lyapunov function and introducing an adaptive compensation term for the upper bound of the residual and optimal approximation error as well as the dead-zone disturbance, the closed-loop control system is proved to be semi-globally uniformly ultimately bounded. In addition, a modified adaptive control algorithm is given in order to avoid the high-frequency chattering phenomenon. Simulation results demonstrate the effectiveness of the approach.展开更多
Our living environments are being gradually occupied with an abundant number of digital objects that have networking and computing capabilities. After these devices are plugged into a network, they initially advertise...Our living environments are being gradually occupied with an abundant number of digital objects that have networking and computing capabilities. After these devices are plugged into a network, they initially advertise their presence and capabilities in the form of services so that they can be discovered and, if desired, exploited by the user or other networked devices. With the increasing number of these devices attached to the network, the complexity to configure and control them increases, which may lead to major processing and communication overhead. Hence, the devices are no longer expected to just act as primitive stand-alone appliances that only provide the facilities and services to the user they are designed for, but also offer complex services that emerge from unique combinations of devices. This creates the necessity for these devices to be equipped with some sort of intelligence and self-awareness to enable them to be self-configuring and self-programming. However, with this ＂smart evolution＂, the cognitive load to configure and control such spaces becomes immense. One way to relieve this load is by employing artificial intelligence （AI） techniques to create an intelligent ＂presence＂ where the system will be able to recognize the users and autonomously program the environment to be energy efficient and responsive to the user＇s needs and behaviours. These AI mechanisms should be embedded in the user＇s environments and should operate in a non-intrusive manner. This paper will show how computational intelligence （CI）, which is an emerging domain of AI, could be employed and embedded in our living spaces to help such environments to be more energy efficient, intelligent, adaptive and convenient to the users.展开更多
Simultaneous perturbation stochastic approximation （SPSA） belongs to the class of gradient-free optimization methods that extract gradient information from successive objective function evaluation. This paper descri...Simultaneous perturbation stochastic approximation （SPSA） belongs to the class of gradient-free optimization methods that extract gradient information from successive objective function evaluation. This paper describes an improved SPSA algorithm, which entails fuzzy adaptive gain sequences, gradient smoothing, and a step rejection procedure to enhance convergence and stability. The proposed fuzzy adaptive simultaneous perturbation approximation （FASPA） algorithm is particularly well suited to problems involving a large number of parameters such as those encountered in nonlinear system identification using neural networks （NNs）. Accordingly, a multilayer perceptron （MLP） network with popular training algorithms was used to predicate the system response. We found that an MLP trained by FASPSA had the desired accuracy that was comparable to results obtained by traditional system identification algorithms. Simulation results for typical nonlinear systems demonstrate that the proposed NN architecture trained with FASPSA yields improved system identification as measured by reduced time of convergence and a smaller identification error.展开更多
基金supported by National Natural Science Foundationof China (No. 60774017 and No. 60874045)
文摘In this paper, adaptive variable structure neural control is presented for a class of uncertain multi-input multi-output （MIMO） nonlinear systems with state time-varying delays and unknown nonlinear dead-zones. The unknown time-varying delay uncer- tainties are compensated for using appropriate Lyapunov-Krasovskii functionals in the design. The approach removes the assumption of linear function outside the deadband without necessarily constructing a dead-zone inverse as an added contribution. By utilizing the integral-type Lyapunov function and introducing an adaptive compensation term for the upper bound of the residual and optimal approximation error as well as the dead-zone disturbance, the closed-loop control system is proved to be semi-globally uniformly ultimately bounded. In addition, a modified adaptive control algorithm is given in order to avoid the high-frequency chattering phenomenon. Simulation results demonstrate the effectiveness of the approach.
文摘Our living environments are being gradually occupied with an abundant number of digital objects that have networking and computing capabilities. After these devices are plugged into a network, they initially advertise their presence and capabilities in the form of services so that they can be discovered and, if desired, exploited by the user or other networked devices. With the increasing number of these devices attached to the network, the complexity to configure and control them increases, which may lead to major processing and communication overhead. Hence, the devices are no longer expected to just act as primitive stand-alone appliances that only provide the facilities and services to the user they are designed for, but also offer complex services that emerge from unique combinations of devices. This creates the necessity for these devices to be equipped with some sort of intelligence and self-awareness to enable them to be self-configuring and self-programming. However, with this ＂smart evolution＂, the cognitive load to configure and control such spaces becomes immense. One way to relieve this load is by employing artificial intelligence （AI） techniques to create an intelligent ＂presence＂ where the system will be able to recognize the users and autonomously program the environment to be energy efficient and responsive to the user＇s needs and behaviours. These AI mechanisms should be embedded in the user＇s environments and should operate in a non-intrusive manner. This paper will show how computational intelligence （CI）, which is an emerging domain of AI, could be employed and embedded in our living spaces to help such environments to be more energy efficient, intelligent, adaptive and convenient to the users.
文摘Simultaneous perturbation stochastic approximation （SPSA） belongs to the class of gradient-free optimization methods that extract gradient information from successive objective function evaluation. This paper describes an improved SPSA algorithm, which entails fuzzy adaptive gain sequences, gradient smoothing, and a step rejection procedure to enhance convergence and stability. The proposed fuzzy adaptive simultaneous perturbation approximation （FASPA） algorithm is particularly well suited to problems involving a large number of parameters such as those encountered in nonlinear system identification using neural networks （NNs）. Accordingly, a multilayer perceptron （MLP） network with popular training algorithms was used to predicate the system response. We found that an MLP trained by FASPSA had the desired accuracy that was comparable to results obtained by traditional system identification algorithms. Simulation results for typical nonlinear systems demonstrate that the proposed NN architecture trained with FASPSA yields improved system identification as measured by reduced time of convergence and a smaller identification error.
