Neural networks for a dynamic decoupling of a nonlinear MIMO dynamic plant

In the paper a method of synthesis of a neural controller which goal is to reduce effects of coupling of the nonlinear multi-input multi-output (MIMO) plant inputs and outputs is presented. The designed neural controller contains a set of neural nets that determine values of parameters of linear decoupling controllers calculated for the adopted nonlinear plant model at its operating points. A known dynamic decoupling technique is used to generate training and evaluation data for the synthetized neural nets. The resulting neural (gain-scheduling) controller varies its parameters depending on the current plant operating point.

[1]  P. Antsaklis,et al.  A unifying approach to the decoupling of linear multivariate systems , 1986 .

[2]  Kurt Hornik,et al.  Multilayer feedforward networks are universal approximators , 1989, Neural Networks.

[3]  Fotis N. Koumboulis.  Block Decoupling of Generalized State Space Systems , 1997, Autom..

[4]  S. BAŃKA,et al.  Efficient algorithm for designing multipurpose control systems for invertible and right-invertible MIMO LTI plants , 2006 .

[5]  P. Olver.  Nonlinear Systems , 2013 .

[6]  Jan Becker Høgsberg,et al.  Optimal Brain Surgeon on Artificial Neural Networks in , 2012 .

[7]  V. Kučera.  Optimal decoupling controllers revisited , 2013 .

[8]  J. Bongiorno,et al.  Wiener-Hopf design of optimal decoupled multivariable feedback control system , 1993, IEEE Trans. Autom. Control..

[9]  P. Dworak,et al.  A Type of Fuzzy T-S Controller for a Nonlinear MIMO Dynamic Plant , 2014 .

[10]  Kurt Hornik,et al.  Some new results on neural network approximation , 1993, Neural Networks.

[11]  J. W. English,et al.  Tank and Wind Tunnel Tests for a Drill-ship with Dynamic Position Control , 1975 .

[12]  Myung Jin Chung,et al.  A design of gain-scheduled control for a linear parameter varying system: an application to flight control , 2001 .

[13]  Juan Carlos Zúñiga Anaya,et al.  Algorithm for decoupling and complete pole assignment of linear multivariable systems , 2003, 2003 European Control Conference (ECC).

[14]  Paweł Dworak,et al.  Dynamic decoupling of left-invertible MIMO LTI plants , 2011 .

[15]  George Cybenko,et al.  Approximation by superpositions of a sigmoidal function , 1989, Math. Control. Signals Syst..

[16]  Pawel Dworak,et al.  Linear adaptive structure for control of a nonlinear MIMO dynamic plant , 2013, Int. J. Appl. Math. Comput. Sci..

[17]  Robert Haber,et al.  DECOUPLING PREDICTIVE CONTROL BY ERROR DEPENDENT TUNING OF THE WEIGHTING FACTORS , 2007 .

[18]  Jae Weon Choi,et al.  Decoupling and tracking control for linear time-varying systems using eigenstructure assignment and CGT , 1999, SICE '99. Proceedings of the 38th SICE Annual Conference. International Session Papers (IEEE Cat. No.99TH8456).

[19]  Weiping Li,et al.  Applied Nonlinear Control , 1991 .

[20]  Ian R. Petersen,et al.  Robust control of uncertain systems: Classical results and recent developments , 2014, Autom..

[21]  Kiheon Park.  H2 design of decoupling controllers based on directional interpolations , 2009, Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference.

[22]  UNIFORM DECOUPLING BY RESTRICTED STATIC STATE FEEDBACK FOR LINEAR TIME-VARYING ANALYTIC SYSTEMS , 1998 .

[23]  Allan Pinkus,et al.  Multilayer Feedforward Networks with a Non-Polynomial Activation Function Can Approximate Any Function , 1991, Neural Networks.

[24]  Xiaoping Liu,et al.  Input-output decoupling of linear time-varying singular systems , 1999, IEEE Trans. Autom. Control..

[25]  Pawel Dworak,et al.  Improving Quality of Regulation of a Nonlinear MIMO Dynamic Plant , 2013 .

[26]  Gregory J. Wolff,et al.  Optimal Brain Surgeon and general network pruning , 1993, IEEE International Conference on Neural Networks.

[27]  B. Paden,et al.  Lyapunov stability theory of nonsmooth systems , 1993, Proceedings of 32nd IEEE Conference on Decision and Control.

[28]  Nahum Shimkin,et al.  Nonlinear Control Systems , 2008 .

[29]  Pawel Dworak.  About dynamic decoupling of a nonlinear MIMO dynamic plant , 2014, 2014 19th International Conference on Methods and Models in Automation and Robotics (MMAR).

[30]  Vasfi Eldem,et al.  On the Morgan problem with stability , 1996, Kybernetika.

[31]  Christian Commault,et al.  Condensed structural solutions to the disturbance rejection and decoupling problems with stability , 1999 .

[32]  Michel Malabre,et al.  Fixed poles of simultaneous disturbance rejection and decoupling: a geometric approach , 2001, Autom..

[33]  Pawel Dworak,et al.  Design of a multivariable neural controller for control of a nonlinear MIMO plant , 2014, Int. J. Appl. Math. Comput. Sci..

[34]  Yann LeCun,et al.  Optimal Brain Damage , 1989, NIPS.

[35]  Süleyman Karacan,et al.  Decoupling Constrained Model Predictive Control of Multi-component Packed Distillation Column , 2011 .

[36]  Krzysztof J. Latawiec,et al.  Switched-structure of linear MIMO controllers for positioning of a drillship on a sea surface , 2010, 2010 15th International Conference on Methods and Models in Automation and Robotics.

[37]  H. Hikita.  Block decoupling and arbitrary pole assignment for a linear right-invertible system by dynamic compensation , 1987 .