Synchronization Motion of Four Supports Hydraulic Platform with Unbalanced Loading and Uncertainties

2010 ◽  
Vol 44-47 ◽  
pp. 935-940
Author(s):  
Xuan Ling ◽  
Xu Dong Wang
Keyword(s):  
Adaptive Learning ◽  
Learning Algorithm ◽  
High Mobility ◽  
Neural Controller ◽  
Hybrid Controller ◽  
The Neural Network ◽  
Series Of Experiments ◽  
System Uncertainties ◽  
Fast Dynamic ◽  
Synchronization Performance

Radar leveling system is the key equipment for improving radar high mobility and survival capability. In this paper, an integrated hybrid controller, comprising of a sets of fuzzy cylinder controllers and one synchronous neural controller, is proposed for a antenna trailer of radar with four points supporting, which is driven by one hydraulic oil supply, to achieve synchronization motion under he various conditions of system uncertainties and disturbances. A new control strategy for better synchronization performance is proposed and a self-adaptive learning algorithm to adjust the weights of the neural network, is also derived. To verify the effectiveness and potential of the proposed controller, a series of experiments were made. Experimental results have demonstrated its high accuracy synchronization performance and fast dynamic response as well as stability of the leveling servo system. The hybrid controller can drive the radar truck leveling platform accurately, quickly and stably.

An E/H Control Design for a Hydraulic Variable Displacement Axial Piston Motor

2011 ◽  
Author(s):  
Hongliu Du
Keyword(s):  
Adaptive Learning ◽  
Lower Cost ◽  
Learning Algorithm ◽  
Control Design ◽  
Test Results ◽  
Satisfactory Performance ◽  
Control Scheme ◽  
Variable Displacement ◽  
System Uncertainties ◽  
Axial Piston

A simple and novel speed control scheme for variable displacement motors has been developed under the consideration of some system uncertainties. Theoretical analysis and experimental test results have shown that the proposed control strategy is capable of driving the swashplate to track its desired trajectory with robust stability and satisfactory performance. An adaptive learning algorithm enables the controls to automatically adjust for uncertainties in the control bias current. Compared with its hydro-mechanical counterpart, the provided E/H control results in a hydraulic variable displacement motor with lower cost and better performance.

scholarly journals End-to-End Autonomous Driving Through Dueling Double Deep Q-Network

2021 ◽  
Author(s):  
Baiyu Peng ◽  
Qi Sun ◽  
Shengbo Eben Li ◽  
Dongsuk Kum ◽  
Yuming Yin ◽  
...  
Keyword(s):  
Neural Network ◽  
State Space ◽  
Learning Algorithm ◽  
Rapid Development ◽  
Autonomous Driving ◽  
Saliency Map ◽  
Hierarchical Architecture ◽  
Link Type ◽  
The Neural Network ◽  
End To End

AbstractRecent years have seen the rapid development of autonomous driving systems, which are typically designed in a hierarchical architecture or an end-to-end architecture. The hierarchical architecture is always complicated and hard to design, while the end-to-end architecture is more promising due to its simple structure. This paper puts forward an end-to-end autonomous driving method through a deep reinforcement learning algorithm Dueling Double Deep Q-Network, making it possible for the vehicle to learn end-to-end driving by itself. This paper firstly proposes an architecture for the end-to-end lane-keeping task. Unlike the traditional image-only state space, the presented state space is composed of both camera images and vehicle motion information. Then corresponding dueling neural network structure is introduced, which reduces the variance and improves sampling efficiency. Thirdly, the proposed method is applied to The Open Racing Car Simulator (TORCS) to demonstrate its great performance, where it surpasses human drivers. Finally, the saliency map of the neural network is visualized, which indicates the trained network drives by observing the lane lines. A video for the presented work is available online, https://youtu.be/76ciJmIHMD8 or https://v.youku.com/v_show/id_XNDM4ODc0MTM4NA==.html.

Hybrid Neural-Fuzzy Controller for Motorized Robot Arm

2011 ◽  
Vol 403-408 ◽  
pp. 5068-5075
Author(s):  
Fatma Zada ◽  
Shawket K. Guirguis ◽  
Walied M. Sead
Keyword(s):  
Fuzzy Logic ◽  
Design Methodology ◽  
Fuzzy Logic Controller ◽  
Fuzzy Controller ◽  
System Response ◽  
Robot Arm ◽  
Neural Controller ◽  
Hybrid Controller ◽  
Neural Fuzzy ◽  
Transient And Steady State

In this study, a design methodology is introduced that blends the neural and fuzzy logic controllers in an intelligent way developing a new intelligent hybrid controller. In this design methodology, the fuzzy logic controller works in parallel with the neural controller and adjusting the output of the neural controller. The performance of our proposed controller is demonstrated on a motorized robot arm with disturbances. The simulation results shows that the new hybrid neural -fuzzy controller provides better system response in terms of transient and steady-state performance when compared to neural or fuzzy logic controller applications. The development and implementation of the proposed controller is done using the MATLAB/Simulink toolbox to illustrate the efficiency of the proposed method.

Adaptive Learning Algorithm for Cerebellar Model Articulation Controller: Neural Network Based Hybrid-Type Controller—Part I

2000 ◽  
Author(s):  
Magdy Mohamed Abdelhameed ◽  
Sabri Cetinkunt
Keyword(s):  
Neural Network ◽  
Control System ◽  
Adaptive Learning ◽  
Learning Algorithm ◽  
Cerebellar Model Articulation Controller ◽  
Neural Network Learning ◽  
Network Learning ◽  
Hybrid Type ◽  
Cmac Neural Network ◽  
Learning Technique

Abstract Cerebellar model articulation controller (CMAC) is a useful neural network learning technique. It was developed two decades ago but yet lacks an adequate learning algorithm, especially when it is used in a hybrid- type controller. This work is intended to introduce a simulation study for examining the performance of a hybrid-type control system based on the conventional learning algorithm of CMAC neural network. This study showed that the control system is unstable. Then a new adaptive learning algorithm of a CMAC based hybrid- type controller is proposed. The main features of the proposed learning algorithm, as well as the effects of the newly introduced parameters of this algorithm have been studied extensively via simulation case studies. The simulation results showed that the proposed learning algorithm is a robust in stabilizing the control system. Also, this proposed learning algorithm preserved all the known advantages of the CMAC neural network. Part II of this work is dedicated to validate the effectiveness of the proposed CMAC learning algorithm experimentally.

scholarly journals Stock Market Prediction Using Artificial Neural Networks

2012 ◽  
Vol 6-7 ◽  
pp. 1055-1060 ◽  
Author(s):  
Yang Bing ◽  
Jian Kun Hao ◽  
Si Chang Zhang
Keyword(s):  
Neural Network ◽  
Prediction Models ◽  
Learning Algorithm ◽  
Stock Exchange ◽  
Back Propagation ◽  
Composite Index ◽  
Network Models ◽  
Back Propagation Neural Network ◽  
Neural Network Models ◽  
The Neural Network

In this study we apply back propagation Neural Network models to predict the daily Shanghai Stock Exchange Composite Index. The learning algorithm and gradient search technique are constructed in the models. We evaluate the prediction models and conclude that the Shanghai Stock Exchange Composite Index is predictable in the short term. Empirical study shows that the Neural Network models is successfully applied to predict the daily highest, lowest, and closing value of the Shanghai Stock Exchange Composite Index, but it can not predict the return rate of the Shanghai Stock Exchange Composite Index in short terms.

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