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Stabilized adaptive neural network based control system

  • US 5,493,631 A
  • Filed: 11/17/1993
  • Issued: 02/20/1996
  • Est. Priority Date: 11/17/1993
  • Status: Expired due to Fees
First Claim
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1. A control system, comprising:

  • means for generating a command control signal in response to a command and supplying the command control signal to an actuator to cause the actuator to initiate an action in a plant in response to the command control signal;

    means for sensing results of the action and outputting a first sensor signal and a second sensor signal based thereon;

    a nominal control system, including;

    means responsive to the first sensor signal for generating a first control signal in response to sensing of the results of the action; and

    an auxiliary adaptive control system, including;

    means for comparing the action as indicated by the second sensor signal with a model of the action based on said command and generating a second control signal in response to the comparison;

    means for combining said first and second control signals with said command control signal to modify said command control signal supplied to the actuator,wherein said auxiliary adaptive control system includes a neuro-controller which generates a corrective control signal responsive to said second sensor signal and to a learned condition, andfurther comprising a limiter which limits the second control signal within a gain margin and a phase margin of the nominal control system in order to generate said second control signal, and means for changing an amount by which the limiter limits the second control signal in accordance with a confidence level generated by the neuro-controller.

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