System and method for adaptive control of uncertain nonlinear processes
First Claim
1. A computer system for controlling a non-linear physical process, the computer system comprising:
- a linear controller connected to receive a command signal for control of the non-linear physical process and an output signal from the non-linear physical process, the linear controller generating a control signal based on the command signal and the output signal, the linear controller designed using a fixed linear model for the process; and
a neural network connected to receive a combined control signal and the output signal from the non-linear physical process, the neural network using at least one of the combined control signal and the output signal from the non-linear physical process to modify the connection weights of the neural network on-line as the neural network and linear controller are used to control the non-linear physical process, the neural network generating a modified control signal based on the modified connection weights and at least one of the combined control signal and the output signal from the non-linear physical process, the modified control signal combining with the control signal to form the combined control signal used to control the non-linear physical process and to correct for errors inherent in controlling the physical process using the linear controller designed using the fixed linear model.
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Abstract
A computer system for controlling a nonlinear physical process. The computer system comprises a linear controller and a neural network. The linear controller receives a command signal for control of the nonlinear physical process and a measured output signal from the output of the nonlinear physical process. The linear controller generates a control signal based on the command signal, a measured output signal, and a fixed linear model for the process. The neural network receives the control signal from the linear controller and the measured output signal from the output of the nonlinear physical process. The neural network uses the measured output signal to modify the connection weights of the neural network. The neural network also generates a modified control signal supplied to the linear controller to iterate a fixed point solution for the modified control signal used to control the nonlinear physical process.
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Citations
19 Claims
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1. A computer system for controlling a non-linear physical process, the computer system comprising:
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a linear controller connected to receive a command signal for control of the non-linear physical process and an output signal from the non-linear physical process, the linear controller generating a control signal based on the command signal and the output signal, the linear controller designed using a fixed linear model for the process; and a neural network connected to receive a combined control signal and the output signal from the non-linear physical process, the neural network using at least one of the combined control signal and the output signal from the non-linear physical process to modify the connection weights of the neural network on-line as the neural network and linear controller are used to control the non-linear physical process, the neural network generating a modified control signal based on the modified connection weights and at least one of the combined control signal and the output signal from the non-linear physical process, the modified control signal combining with the control signal to form the combined control signal used to control the non-linear physical process and to correct for errors inherent in controlling the physical process using the linear controller designed using the fixed linear model. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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17. A computer system for controlling a non-linear physical process, the computer system comprising:
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a linear controller connected to receive a command signal for control of the non-linear physical process and an output signal from the non-linear physical process, the linear controller generating a control signal based on the command signal and the output signal, the linear controller designed using a fixed linear model for the process; a neural network connected to receive a combined control signal and the output signal from the non-linear physical process, the neural network using at least one of the combined control signal and the output signal from the non-linear physical process to modify the connection weights of the neural network on-line as the neural network and linear controller are used to control the non-linear physical process, the neural network generating a modified control signal based on the modified connection weights and at least one of the combined control signal and the output signal from the non-linear physical process; and a node connected to receive the control signal output from the linear controller and the modified control signal output from the neural network, and generating the combined control signal based on the control signal output from the linear controller and the modified control signal output from the neural network, the node connected to output the combined control signal to control the non-linear physical process and to correct for errors inherent in modeling the physical process using the fixed linear model.
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18. A computer system for controlling a non-linear physical process, the computer system comprising:
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a controller connected to receive a command signal for control of the non-linear physical process and an output signal from the non-linear physical process, the controller generating a control signal based on the command signal and the output signal, the controller designed using a model for the process; a neural network connected to receive a combined control signal and the output signal from the non-linear physical process, the neural network using at least one of the combined control signal and the output signal from the non-linear physical process to modify the connection weights of the neural network on-line as the neural network and controller are used to control the non-linear physical process, the neural network generating a modified control signal based on the modified connection weights and at least one of the combined control signal and the output signal from the non-linear physical process, the modified control signal combining with the control signal to form the combined control signal used to control the non-linear physical process and to correct for errors inherent in modeling the physical process using the model.
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19. A computer system for controlling a non-linear physical process, the computer system comprising:
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a controller connected to receive a command signal for control of the non-linear physical process and an output signal from the non-linear physical process, the controller generating a control signal based on the command signal and the output signal, the controller designed using a model for the process; a neural network connected to receive a combined control signal and the output signal from the non-linear physical process, the neural network using at least one of the combined control signal and the output signal from the non-linear physical process to modify the connection weights of the neural network on-line as the neural network and controller are used to control the non-linear physical process, the neural network generating a modified control signal based on the modified connection weights and at least one of the combined control signal and the output signal from the non-linear physical process; and a node connected to receive the control signal output from the controller and the modified control signal output from the neural network, and generating the combined control signal based on the control signal output from the controller and the modified control signal output from the neural network, the node connected to output the combined control signal to control the non-linear physical process and to correct for errors inherent in modeling the physical process using the model.
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Specification