Intelligent Control Based on Flexible Neural Networks

1999
ISBN: 978-0-7923-5683-7
Verlag: Springer Netherlands

Buch, Englisch, Band 19, 236 Seiten, Format (B × H): 160 mm x 241 mm, Gewicht: 1190 g

Reihe: Intelligent Systems, Control and Automation: Science and Engineering

References. 57 Chapter 3 Flexible Neural Networks. 61 3. 1 Introduction. 61 3. 2 Flexible Unipolar Sigmoid Functions. 62 3. 3 Flexible Bipolar Sigmoid Functions. 64 3. 4 Learning Algorithms. 66 3. 4. 1 Generalized learning. 67 3. 4. 2 Specialized learning. 71 3. 5 Examples. 72 3. 6 Combinations of Flexible Artificial Neural Network Topologies. 79 3. 7 Summary. 82 References. 82 Chapter 4 Self-Tuning PID Control 85 4. 1 Introduction. 85 4. 2 PID Control. 87 4. 3 Flexible Neural Network as an Indirect Controller. 91 4. 4 Self-tunig PID Control. 93 4. 5 Simulation Examples. 94 4. 5. 1 The Tank model. 94 4. 5. 2 Simulation study. 96 4. 5. 3 Simulation results. 99 4. 6 Summary. 104 References. 105 Chapter 5 Self-Tuning Computed Torque Control: Part I 107 5. 1 Introduction. 107 5. 2 Manipulator Model. 108 5. 3 Computed Torque Control. 110 5. 4 Self-tunig Computed Torque Control. 111 5. 5 Simulation Examples. 115 5. 5. 1 Simultaneous learning of connection weights and SF para- ters. 116 5. 5. 2 Learning of the sigmoid function parameters. 123 Vll 5. 5. 3 Simultaneous learning of SF parameters and output gains 129 5. 6 Summary. 135 References. 135 Chapter 6 Self-Tuning Computed Torque Control: Part II 137 6. 1 Introduction. 137 6. 2 Simplification of Flexible Neural Networks. 138 6. 3 Simulation Examples. 140 6. 3. 1 Simultaneous learning of connection weights and sigmoid function parameters.

Zielgruppe

Research

Autoren/Hrsg.

Kyoko, Watanabe

Teshnehlab, M.

Fachgebiete

• Mathematik | Informatik EDV | Informatik Informatik Künstliche Intelligenz Wissensbasierte Systeme, Expertensysteme
• Technische Wissenschaften Elektronik | Nachrichtentechnik Elektronik Überwachungstechnik
• Technische Wissenschaften Maschinenbau | Werkstoffkunde Maschinenbau
• Mathematik | Informatik Mathematik Mathematik Interdisziplinär Systemtheorie
• Technische Wissenschaften Elektronik | Nachrichtentechnik Elektronik Robotik
• Technische Wissenschaften Elektronik | Nachrichtentechnik Elektronik Mikroprozessoren
• Interdisziplinäres Wissenschaften Wissenschaften: Forschung und Information Kybernetik, Systemtheorie, Komplexe Systeme

Inhaltsverzeichnis

1 Introduction.- 2 Fundamentals of Neural Networks.- 3 Flexible Neural Networks.- 4 Self-Tuning PID Control.- 5 Self-Tuning Computed Torque Control: Part I.- 6 Self-Tuning Computed Torque Control: Part II.- 7 Development of an Inverse Dynamics Model.- 8 Self-organizing Flexible Neural Network.- 9 Conclusions.