FEEDBACK-CONTROL OF MINIMUM-TIME OPTIMAL-CONTROL PROBLEMS USING NEURAL NETWORKS

被引:16
作者
GOH, CJ [1 ]
EDWARDS, NJ [1 ]
ZOMAYA, AY [1 ]
机构
[1] UNIV WESTERN AUSTRALIA,DEPT ELECT & ELECTR ENGN,NEDLANDS,WA 6009,AUSTRALIA
关键词
OPTIMAL FEEDBACK CONTROL; NEURAL NETWORKS; ROBOT MANIPULATOR; MINIMUM TIME;
D O I
10.1002/oca.4660140102
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
This paper presents an optimal feedback controller capable of driving a non-linear control system from an arbitrary initial state to a fixed final state in minimum time. The controller is based on a feedforward multilayer neural network trained repeatedly using open-loop optimal control data which densely span the field of extremals of the non-linear system. The effectiveness of the controller is clearly demonstrated by a simulation on a two-link robot manipulator. The effect of sensor/actuator noise and parameter variation is also included to confirm the robustness of the controller.
引用
收藏
页码:1 / 16
页数:16
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