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NN CONTROLLER
input signal of the activation function, xk is the kth input,
The proposed method can be used as adaptive or non- wk is the kth weight of the output neuron. The right side
adaptive controller. If learning process continues, the terms of Equation (5) can be shown as the following
controller will be an adaptive controller. In non-adaptive equations.
case, learning process is executed as offline or for a
certain period of time. Figure 2 shows the usage of NN
∂u (t )
controller after completing the training for the non- = a ′(net )
adaptive case. ∂net
This structure is different from the direct inverse
dynamics control structure in which error is directly the ∂net
= xi (t )
input of structure. The objective is to train the neural ∂wi
network in such a way that to obtain a controller to
control the plant (figure 2).
∂E ∂ 1
= [d (t ) − y(t )]2
∂u (t ) ∂u (t ) 2
[
= − d (t ) − y (t ) ] ∂y(t ) (6)
∂u (t )
Figure 2. MNN used as a controller (Plant : controlled
system). a ′() is the derivative of the activation function of the
To achieve this, the neural network should be trained in output neuron. Thus,
such a way that for the input of error, e(t) produces ∂y (t )
proper control parameter, u(t) to be applied to the plant to ∆wij = ηa ′(net ) xi (t )[d (t ) − y (t )] (7)
produce y(t). In standard back-propagation algorithm, ∂u (t )
both u(t) and y(t) are required for training the network.
The updating rule for the output layer is obtained. In
Therefore, a special learning algorithm is required.
equation (7), d (t ) − y (t ) is the error between the
Let there is a reference model having input of r (t ) and controlled system and reference system. Error term
between the output of the system and the reference signal
desired output signal of d (t ) . The error between the
e(t ) is implicit to this equation, because e(t ) is the input
output of the controlled system, y(t) and the reference
of NN and calculations performed on it at the hidden
model output can be defined as
layer.
ec (t ) = d (t ) − y (t ) (2)
Hidden neurons have the same updating rule as in
The objective is to obtain an output signal from the standard back-propagation [8]. The only difference
system shown in figure 2 as close as possible to the between equation (7) and standard back-propagation is
output of the reference model by reducing the square of the term ∂y (t ) / ∂u (t ) , which is the sensitivity of the
the error. Therefore the cost function is defined as controlled system. This term may not be obtained directly
1 from the controlled system itself accurately since it is
E= ec (t ) 2 (3) time independent. One way to obtain the sensitivity term
2 is to identify the controlled system by a neural network,
For the output layer of the network, which has one because the identified model provides the stationary
neuron, the training rule for specialized back-propagation properties of the system. If the controlled system is linear,
can be written as its sensitivity is a constant value. Since learning rate of
NN included in equation (7) is an arbitrary or adjustable but variable on-off durations in each period. The speed of
constant, two constant parameters can be considered as the motor is controlled by varying the duty cycle d of
one constant parameter, therefore identification is not the transistor. The corresponding waveforms are given in
required for linear systems. figure 5.
REFERENCES