机械工程师手册,仪器仪表,系统,控制系统,和MEMch19.doc

791 CHAPTER19 NEURALNETWORKSIN FEEDBACKCONTROLSYSTEMS F.L.Lewis AutomationandRoboticsResearchInstitute UniversityofTexasatArlington FortWorth,Texas ShuzhiSamGe DepartmentofElectricalandComputerEngineering NationalUniversityofSingapore Singapore 1INTRODUCTION792 2BACKGROUND793 2.1NeuralNetworks793 2.2NNControlTopologies794 3FEEDBACKLINEARIZATION DESIGNOFNNTRACKING CONTROLLERS795 3.1MultilayerNNController796 3.2Single-LayerNNController798 3.3FeedbackLinearizationof NonlinearSystemsUsingNNs798 3.4PartitionedNNsandInput Preprocessing799 4NNCONTROLFOR DISCRETE-TIMESYSTEMS800 5MULTILOOPNNFEEDBACK CONTROLSTRUCTURES800 5.1BacksteppingNeurocontroller forElectricallyDrivenRobot801 5.2CompensationofFlexible ModesandHigh-Frequency DynamicsUsingNNs802 5.3ForceControlwithNeuralNets803 6FEEDFORWARDCONTROL STRUCTURESFORACTUATOR COMPENSATION804 6.1FeedforwardNeurocontroller forSystemswithUnknown Deadzone804 6.2DynamicInversion NeurocontrollerforSystems withBacklash805 7NNOBSERVERSFOROUTPUT FEEDBACKCONTROL806 8REINFORCEMENTLEARNING CONTROLUSINGNNs807 8.1NNReinforcementLearning Controller808 8.2AdaptiveReinforcement LearningUsingFuzzyLogic Critic809 9OPTIMALCONTROLUSING NNs810 9.1NN H 2ControlUsingtheHamilton–Jacobi–Bellman Equation811 9.2NN H ControlUsingtheHamilton–Jacobi–Isaacs Equation813 10APPROXIMATEDYNAMIC PROGRAMMINGAND ADAPTIVECRITICS815 11HISTORICALDEVELOPMENT, REFERENCEDWORK,AND FURTHERSTUDY817 11.1NNforFeedbackControl817 11.2ApproximateDynamic Programming819 REFERENCES821 BIBLIOGRAPHY825 Mechanical Engineers’ Handbook: Instrumentation, Systems, Controls, and MEMS, Volume 2, Third Edition. Edited by Myer Kutz Copyright ? 2006 by John Wiley Sons, Inc. 792 NeuralNetworksinFeedbackControlSystems 1INTRODUCTION Dynamicalsystems areubiquitousinnatureandincludenaturallyoccurringsystemssuchas thecellandmorecomplexbiologicalorganisms,theinteractionsofpopulations,andsoon, aswellasman-madesystemssuchasaircraft,satellites,andinteractingglobaleconomies. VonBertalanffy1wereamongthe?rs