适应性神经控制用于歇斯底里非线性系统与歇斯底里神经直接反向补偿器及其应用
IEEE transactions on cybernetics
|July 23, 2024
概括
一个新的自适应控制方案使用长期短期记忆神经网络 (LSTMNN) 来精确地管理具有歇斯底里性的非线性系统. 这种方法可以提高诸如介电弹性体执行器 (DEA) 等设备的控制精度.
科学领域:
- 控制系统工程 控制系统工程
- 非线性动力学是一种非线性动力学.
- 在工程领域的人工智能.
背景情况:
- 歇斯底里非线性系统在实现高精度控制方面存在重大挑战.
- 现有的控制方法往往难以有效地弥补不对称的歇斯底里斯非线性.
- 准确估计无法测量的状态对于先进的控制性能至关重要.
研究的目的:
- 为歇斯底里非线性系统设计一种新的自适应输出反控制方案.
- 开发一个基于长期短期记忆神经网络 (LSTMNN) 的歇斯底里反向补偿器.
- 为了实现高精度的控制和准确的状态估计在双圆形介电弹性体执行器 (DEA) 运动平台.
主要方法:
- 长期短期记忆神经网络 (LSTMNN) 被用作模型操作员重量的预测机制,以弥补歇斯底里.
- 一个修改的高增益K-过器状态观察员和一个错误转换函数被设计用于状态估计.
- 为了验证控制方案,建造了一个实验性的双圆形介电弹性体执行器 (DEA) 运动平台.
主要成果:
- 基于LSTMNN的歇斯底里反向补偿器有效地补偿了不对称的歇斯底里非线性.
- 设计的K-Filter观察器以任意小的错误实现了状态估计,从而实现了预先规定的跟踪性能.
- 在DEA平台上的实验验证证明了拟议的控制方案的有效性和优势.
结论:
- 拟议的基于LSTMNN的自适应输出反控制方案为歇斯底里非线性系统的高精度控制提供了强大的解决方案.
- 集成LSTMNN用于歇斯底里补偿和先进状态观察器的集成显著提高了系统性能.
- 实验结果证实了开发的控制策略的实际适用性和优越性.
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