A neural network approach for the real time control of a FMS

A novel biologically inspired neural network approach is proposed for real-time simultaneous map building and path planning with limited sensor information in a non-stationary environment. The dynamics of each neuron is characterized by a shunting equation with both excitatory and inhibitory connections. There are only local connections in the proposed neural network. The map of the environment is built during the real-time robot navigation with its sensor information that is limited to a short range. The real-time robot path is generated through the dynamic activity landscape of the neural network. The effectiveness and the efficiency are demonstrated by simulation studies.

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Hysteresis Nonlinearity Identification Using New Preisach Model-Based Artificial Neural Network Approach

Journal of Applied Mathematics ◽

10.1155/2011/458768 ◽

2011 ◽

Vol 2011 ◽

pp. 1-22 ◽

Cited By ~ 16

Author(s):

Mohammad Reza Zakerzadeh ◽

Mohsen Firouzi ◽

Hassan Sayyaadi ◽

Saeed Bagheri Shouraki

Keyword(s):

Neural Network ◽

Preisach Model ◽

Network Approach ◽

Real Time Control ◽

Neural Network Approach ◽

Time Control ◽

Hysteresis Nonlinearity ◽

Experimental Apparatus ◽

And Performance ◽

Aluminum Beam

Preisach model is a well-known hysteresis identification method in which the hysteresis is modeled by linear combination of hysteresis operators. Although Preisach model describes the main features of system with hysteresis behavior, due to its rigorous numerical nature, it is not convenient to use in real-time control applications. Here a novel neural network approach based on the Preisach model is addressed, provides accurate hysteresis nonlinearity modeling in comparison with the classical Preisach model and can be used for many applications such as hysteresis nonlinearity control and identification in SMA and Piezo actuators and performance evaluation in some physical systems such as magnetic materials. To evaluate the proposed approach, an experimental apparatus consisting one-dimensional flexible aluminum beam actuated with an SMA wire is used. It is shown that the proposed ANN-based Preisach model can identify hysteresis nonlinearity more accurately than the classical one. It also has powerful ability to precisely predict the higher-order hysteresis minor loops behavior even though only the first-order reversal data are in use. It is also shown that to get the same precise results in the classical Preisach model, many more data should be used, and this directly increases the experimental cost.

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Using graphs to construct a math model of a microcontroller-based system for preset rate control of a flywheel motor to be used in high-dynamics spacecraft

Space engineering and technology ◽

10.33950/spacetech-2308-7625-2020-1-126-134 ◽

2020 ◽

pp. 126-134

Author(s):

Vladimir V. NEKRASOV

Keyword(s):

Real Time ◽

Rotation Rate ◽

Control Function ◽

Real Time Control ◽

Math Model ◽

The Real ◽

Time Control ◽

Power Matrix ◽

High Dynamics ◽

Stated Problem

Developing a microcontroller-based system for controlling the flywheel motor of high-dynamics spacecraft using Russian-made parts and components made it possible to make statement of the problem of searching control function for a preset rotation rate of the flywheel rotor. This paper discusses one of the possible options for mathematical study of the stated problem, namely, application of structural analysis based on graph theory. Within the framework of the stated problem a graph was constructed for generating the new required rate, while in order to consider the stochastic case option the incidence and adjacency matrices were constructed. The stated problem was solved using a power matrix which transforms a set of contiguous matrices of the graph of admissible solution edge sequences, the real-time control function was found. Based on the results of this work, operational trials were run for the developed control function of the flywheel motor rotor rotation rate, a math model was constructed for the real-time control function, and conclusions were drawn about the feasibility of implementing the results of this study. Key words: Control function, graph, incidence matrix, adjacency matrix, power matrix, microcontroller control of the flywheel motor, highly dynamic spacecraft.

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