Web projektu DAR

Research Centre
Data - Algorithms - Decision Making

Established in 2005 under support of MŠMT ČR (project 1M0572)

Publications

Functional adaptive controller for MIMO systems with dynamic structure of neural network

Typ:

Conference paper

Authors:

Král L., Punčochář I., Duník J.

Proceedings name:

Proceedings of the 10th International PhD Workshop Young Generation Viewpoint

Serie:

Hluboka nad Vltavou, Czech Republic

Year:

2009

Contact:

Ing. Ivo Punčochář, Ph.D. (FAV Západočeská univerzita, katedra kybernetiky)

URL (www page):

http://as.utia.cz/phd2009

attachment1:

clanek_PhDW09_LK.pdf [file]

attachment2:

prezentace_PhDW09_LK.pdf [file]

Anotation:

A functional adaptive control for nonlinear stochastic Multi-Input Multi-Output (MIMO) systems is presented. A nonlinear system is modelled by a MultiLayer Perceptron (MLP) neural network. Parameters of the model are estimated by the extended Kalman filter (EKF). One of the key problems connected with neural network is selection of its structure. In order to avoid this problem, an on-line algorithm for dynamic structure optimization of the MLP network is proposed. Controller design is based on bicriterial dual approach that uses two separate criteria to introduce opposing aspects between estimation and control; caution and probing. The proposed approach is compared with two adaptive non-dual controllers. The quality of the proposed functional adaptive controller is illustrated in a numerical example.