【目的】针对极限学习机(ELM)神经网络在室内可见光定位(VLP)中收敛不稳定,易陷入局部最优状态,导致定位精度降低的问题,文章引入了麻雀搜索算法(SSA)确定ELM神经网络的初始权值和阈值,提出了SSA-ELM神经网络算法。【方法】首先,采集定...【目的】针对极限学习机(ELM)神经网络在室内可见光定位(VLP)中收敛不稳定,易陷入局部最优状态,导致定位精度降低的问题,文章引入了麻雀搜索算法(SSA)确定ELM神经网络的初始权值和阈值,提出了SSA-ELM神经网络算法。【方法】首先,采集定位区域内接收信号强度(RSS)与位置信息作为指纹数据;然后,训练SSA-ELM神经网络并得到预测模型,将测试集数据输入预测模型得到待测位置的定位结果;最后,设计了仿真实验和测试平台。【结果】仿真表明,在立体空间模型中0、0.3、0.6和0.9 m 4个接收高度,平均误差分别为1.73、1.86、2.18和3.47 cm,与反向传播(BP)、SSA-BP和ELM定位算法相比,SSA-ELM神经网络算法定位精度分别提高了83.55%、45.71%和26.26%,定位时间分别降低了36.48%、17.69%和6.61%。实验测试表明,文章所提SSA-ELM神经网络算法的平均定位误差为3.75 cm,比未优化的ELM神经网络定位精度提高了16.38%。【结论】SSA对ELM神经网络具有明显的优化作用,能够显著降低定位误差,减少定位时间。展开更多
Load forecasting is of great significance to the development of new power systems.With the advancement of smart grids,the integration and distribution of distributed renewable energy sources and power electronics devi...Load forecasting is of great significance to the development of new power systems.With the advancement of smart grids,the integration and distribution of distributed renewable energy sources and power electronics devices have made power load data increasingly complex and volatile.This places higher demands on the prediction and analysis of power loads.In order to improve the prediction accuracy of short-term power load,a CNN-BiLSTMTPA short-term power prediction model based on the Improved Whale Optimization Algorithm(IWOA)with mixed strategies was proposed.Firstly,the model combined the Convolutional Neural Network(CNN)with the Bidirectional Long Short-Term Memory Network(BiLSTM)to fully extract the spatio-temporal characteristics of the load data itself.Then,the Temporal Pattern Attention(TPA)mechanism was introduced into the CNN-BiLSTM model to automatically assign corresponding weights to the hidden states of the BiLSTM.This allowed the model to differentiate the importance of load sequences at different time intervals.At the same time,in order to solve the problem of the difficulties of selecting the parameters of the temporal model,and the poor global search ability of the whale algorithm,which is easy to fall into the local optimization,the whale algorithm(IWOA)was optimized by using the hybrid strategy of Tent chaos mapping and Levy flight strategy,so as to better search the parameters of the model.In this experiment,the real load data of a region in Zhejiang was taken as an example to analyze,and the prediction accuracy(R2)of the proposed method reached 98.83%.Compared with the prediction models such as BP,WOA-CNN-BiLSTM,SSA-CNN-BiLSTM,CNN-BiGRU-Attention,etc.,the experimental results showed that the model proposed in this study has a higher prediction accuracy.展开更多
To decrease number of samples for the implementation of color space transformation, a method for modeling the chromatic characterization of video cameras was proposed. An additional transformation was required to pred...To decrease number of samples for the implementation of color space transformation, a method for modeling the chromatic characterization of video cameras was proposed. An additional transformation was required to predict output RGB values for an input color. This additional transformation was based on spectral reflectance relationship. The transformed color coordinates were taken as inputs of a multilayer neural network. Based on network outputs, the RGB values to be predicted were calculated. Experimental results were given to illustrate the performance of the method. Even though much less number of training samples are used, this method can also perform well on this color space transformation.展开更多
At present, multi-se nsor fusion is widely used in object recognition and classification, since this technique can efficiently improve the accuracy and the ability of fault toleranc e. This paper describes a multi-se...At present, multi-se nsor fusion is widely used in object recognition and classification, since this technique can efficiently improve the accuracy and the ability of fault toleranc e. This paper describes a multi-sensor fusion system, which is model-based and used for rotating mechanical failure diagnosis. In the data fusion process, the fuzzy neural network is selected and used for the data fusion at report level. By comparing the experimental results of fault diagnoses based on fusion data wi th that on original separate data,it is shown that the former is more accurate than the latter.展开更多
To transfer the color data from a device (video camera) dependent color space into a device? independent color space, a multilayer feedforward network with the error backpropagation (BP) learning rule, was regarded ...To transfer the color data from a device (video camera) dependent color space into a device? independent color space, a multilayer feedforward network with the error backpropagation (BP) learning rule, was regarded as a nonlinear transformer realizing the mapping from the RGB color space to CIELAB color space. A variety of mapping accuracy were obtained with different network structures. BP neural networks can provide a satisfactory mapping accuracy in the field of color space transformation for video cameras.展开更多
Traditional scheduled maintenance systems are costly, labor intensive, and typically provide noncomprehensive detection and diagnosis of engine faults. The engine monitoring system (EMS) on modern aircrafts has the p...Traditional scheduled maintenance systems are costly, labor intensive, and typically provide noncomprehensive detection and diagnosis of engine faults. The engine monitoring system (EMS) on modern aircrafts has the potential to provide maintenance personnel with valuable information for detecting and diagnosing engine faults. In this paper, an RBF neural network approach is applied to aeroengine gas path fault diagnosis. It can detect multiple faults and quantify the amount of deterioration of the various engine components as a function of measured parameters. The results obtained demonstrate that the accuracy of diagnosis is consistent with practical requirements. The approach takes advantage of the nonlinear mapping feature of neural networks to capture the appropriate characteristics of an aeroengine. The methodology is generic and applicable to other similar plants having high complexity.展开更多
A methodology is presented whereby a neural network is used to learn the inverse kinematic relationships of the position and orientation of a six joint manipulator. The arm solution for the orientation of a manipulato...A methodology is presented whereby a neural network is used to learn the inverse kinematic relationships of the position and orientation of a six joint manipulator. The arm solution for the orientation of a manipulator using a self organizing neural net is studied in this paper. A new training model of the self organizing neural network is proposed by thoroughly studying Martinetz, Ritter and Schulten′s self organizing neural network based on Kohonen′s self organizing mapping algorithm using a Widrow Hoff type error correction rule and closely combining the characters of the inverse kinematic relationship for a robot arm. The computer simulation results for a PUMA 560 robot show that the proposed method has a significant improvement over other methods documented in the references in self organizing capability and precision by training process.展开更多
Four common oil analysis techniques, including the ferrography analysis （FA）, the spectrometric oil analysis （SOA）, the particle count analysis （PCA）, and the oil quality testing （OQT）, are used to implement t...Four common oil analysis techniques, including the ferrography analysis （FA）, the spectrometric oil analysis （SOA）, the particle count analysis （PCA）, and the oil quality testing （OQT）, are used to implement the military aeroengine wear fault diagnosis during the test drive process. To improve the precision and the reliability of the diagnosis, the aeroengine wear fault fusion diagnosis method based on the neural networks （NN） and the Dempster-Shafter （D-S） evidence theory is proposed. Firstly, according to the standard value of the wear limit, original data are pre-processed into Boolean values. Secondly, sub-NNs are established to perform the single diagnosis, and their training samples are dependent on experiences from experts. After each sub-NN is trained, diagnosis results are obtained. Thirdly, the diagnosis results of each sub-NN are considered as the basic probability allocation value to faults. The improved D-S evidence theory is applied to the fusion diagnosis, and the final fusion results are obtained. Finally, the method is verified by a diagnosis example.展开更多
Injection of water to enhance oil production is commonplace, and improvements in understanding the process are economically important. This study examines predictive models of the injection-to-production ratio. First...Injection of water to enhance oil production is commonplace, and improvements in understanding the process are economically important. This study examines predictive models of the injection-to-production ratio. Firstly, the error between the fitting and actual injection-production ratio is calculated with such methods as the injection-production ratio and water-oil ratio method, the material balance method, the multiple regression method, the gray theory GM (1,1) model and the back-propogation (BP) neural network method by computer applications in this paper. The relative average errors calculated are respectively 1.67%, 1.08%, 19.2%, 1.38% and 0.88%. Secondly, the reasons for the errors from different prediction methods are analyzed theoretically, indicating that the prediction precision of the BP neural network method is high, and that it has a better self-adaptability, so that it can reflect the internal relationship between the injection-production ratio and the influencing factors. Therefore, the BP neural network method is suitable to the prediction of injection-production ratio.展开更多
Rate of penetration of a Tunnel Boring Machine(TBM) in a rock environment is generally a key parameter for the successful accomplishment of a tunneling project.This paper presents the results of a study into the appli...Rate of penetration of a Tunnel Boring Machine(TBM) in a rock environment is generally a key parameter for the successful accomplishment of a tunneling project.This paper presents the results of a study into the application of an Artificial Neural Network(ANN) technique for modeling the penetration rate of tunnel boring machines.A database,including actual,measured TBM penetration rates,uniaxial compressive strengths of the rock,the distance between planes of weakness in the rock mass and rock quality designation was established.Data collected from three different TBM projects(the Queens Water Tunnel,USA,the Karaj-Tehran water transfer tunnel,Iran,and the Gilgel Gibe II hydroelectric project,Ethiopia).A five-layer ANN was found to be optimum,with an architecture of three neurons in the input layer,9,7 and 3 neurons in the first,second and third hidden layers,respectively,and one neuron in the output layer.The correlation coefficient determined for penetration rate predicted by the ANN was 0.94.展开更多
With the revival of magnetorheological technology research in the 1980’s, its application in vehicles is in- creasingly focused on vibration suppression. Based on the importance of magnetorheological damper modeling,...With the revival of magnetorheological technology research in the 1980’s, its application in vehicles is in- creasingly focused on vibration suppression. Based on the importance of magnetorheological damper modeling, non- parametric modeling with neural network, which is a promising development in semi-active online control of vehicles with MR suspension, has been carried out in this study. A two layer neural network with 7 neurons in a hidden layer and 3 inputs and 1 output was established to simulate the behavior of MR damper at different excitation currents. In the neural network modeling, the damping force is a function of displacement, velocity and the applied current. A MR damper for vehicles is fabricated and tested by MTS; the data acquired are utilized for neural network training and vali- dation. The application and validation show that the predicted forces of the neural network match well with the forces tested with a small variance, which demonstrates the effectiveness and precision of neural network modeling.展开更多
A new mathematical model to estimate the parameters of the probability-integral method for mining subsidence prediction is proposed.Based on least squares support vector machine(LS-SVM) theory, it is capable of improv...A new mathematical model to estimate the parameters of the probability-integral method for mining subsidence prediction is proposed.Based on least squares support vector machine(LS-SVM) theory, it is capable of improving the precision and reliability of mining subsidence prediction.Many of the geological and mining factors involved are related in a nonlinear way.The new model is based on statistical theory(SLT) and empirical risk minimization(ERM) principles.Typical data collected from observation stations were used for the learning and training samples.The calculated results from the LS-SVM model were compared with the prediction results of a back propagation neural network(BPNN) model.The results show that the parameters were more precisely predicted by the LS-SVM model than by the BPNN model.The LS-SVM model was faster in computation and had better generalized performance.It provides a highly effective method for calculating the predicting parameters of the probability-integral method.展开更多
Fuzzy neural networks （FNN） based on Gaussian membership functions can effectively control the motion of underwater vehicles. However, their operating processes and training algorithms are complicated, placing great...Fuzzy neural networks （FNN） based on Gaussian membership functions can effectively control the motion of underwater vehicles. However, their operating processes and training algorithms are complicated, placing great demands on embedded hardware. This paper presents an advanced FNN with an S membership function matching the motion characteristics of mini underwater vehicles with wings. A leaming algorithm was then developed. Simulation results showed that the modified FNN is a simpler algorithm with faster calculations and improves responsiveness, compared with a Gaussian membership function-based FNN. It is applicable for mini underwater vehicles that don＇t need accurate positioning but must have good maneuverability.展开更多
A discussion is devoted to the design of an adaptive flight control system of the armed helicopter using wavelet neural network method. Firstly, the control loop of the attitude angle is designed with a dynamic invers...A discussion is devoted to the design of an adaptive flight control system of the armed helicopter using wavelet neural network method. Firstly, the control loop of the attitude angle is designed with a dynamic inversion scheme in a quick loop and a slow loop. respectively. Then, in order to compensate the error caused by dynamic inversion, the adaptive flight control system of the armed helicopter using wavelet neural network method is put forward, so the BP wavelet neural network and the Lyapunov stable wavelet neural network are used to design the helicopter flight control system. Finally, the typical maneuver flight is simulated to demonstrate its validity and effectiveness. Result proves that the wavelet neural network has an engineering practical value and the effect of WNN is good.展开更多
Reinforcement learning is an excellent approach which is used in artificial intelligence,automatic control, etc. However, ordinary reinforcement learning algorithm, such as Q-learning with lookup table cannot cope wit...Reinforcement learning is an excellent approach which is used in artificial intelligence,automatic control, etc. However, ordinary reinforcement learning algorithm, such as Q-learning with lookup table cannot cope with extremely complex and dynamic environment due to the huge state space. To reduce the state space, modular neural network Q-learning algorithm is proposed, which combines Q-learning algorithm with neural network and module method. Forward feedback neural network, Elman neural network and radius-basis neural network are separately employed to construct such algorithm. It is revealed that Elman neural network Q-learning algorithm has the best performance under the condition that the same neural network training method, i.e. gradient descent error back-propagation algorithm is applied.展开更多
To solve the problem of altitude control of a tilt tri-rotor unmanned aerial vehicle(UAV)in the transition mode,this study presents a grey wolf optimization(GWO)based neural network adaptive control scheme for a tilt ...To solve the problem of altitude control of a tilt tri-rotor unmanned aerial vehicle(UAV)in the transition mode,this study presents a grey wolf optimization(GWO)based neural network adaptive control scheme for a tilt trirotor UAV in the transition mode.Firstly,the nonlinear model of the tilt tri-rotor UAV is established.Secondly,the tilt tri-rotor UAV altitude controller and attitude controller are designed by a neural network adaptive control method,and the GWO algorithm is adopted to optimize the parameters of the neural network and the controllers.Thirdly,two altitude control strategies are designed in the transition mode.Finally,comparative simulations are carried out to demonstrate the effectiveness and robustness of the proposed control scheme.展开更多
文摘【目的】针对极限学习机(ELM)神经网络在室内可见光定位(VLP)中收敛不稳定,易陷入局部最优状态,导致定位精度降低的问题,文章引入了麻雀搜索算法(SSA)确定ELM神经网络的初始权值和阈值,提出了SSA-ELM神经网络算法。【方法】首先,采集定位区域内接收信号强度(RSS)与位置信息作为指纹数据;然后,训练SSA-ELM神经网络并得到预测模型,将测试集数据输入预测模型得到待测位置的定位结果;最后,设计了仿真实验和测试平台。【结果】仿真表明,在立体空间模型中0、0.3、0.6和0.9 m 4个接收高度,平均误差分别为1.73、1.86、2.18和3.47 cm,与反向传播(BP)、SSA-BP和ELM定位算法相比,SSA-ELM神经网络算法定位精度分别提高了83.55%、45.71%和26.26%,定位时间分别降低了36.48%、17.69%和6.61%。实验测试表明,文章所提SSA-ELM神经网络算法的平均定位误差为3.75 cm,比未优化的ELM神经网络定位精度提高了16.38%。【结论】SSA对ELM神经网络具有明显的优化作用,能够显著降低定位误差,减少定位时间。
文摘Load forecasting is of great significance to the development of new power systems.With the advancement of smart grids,the integration and distribution of distributed renewable energy sources and power electronics devices have made power load data increasingly complex and volatile.This places higher demands on the prediction and analysis of power loads.In order to improve the prediction accuracy of short-term power load,a CNN-BiLSTMTPA short-term power prediction model based on the Improved Whale Optimization Algorithm(IWOA)with mixed strategies was proposed.Firstly,the model combined the Convolutional Neural Network(CNN)with the Bidirectional Long Short-Term Memory Network(BiLSTM)to fully extract the spatio-temporal characteristics of the load data itself.Then,the Temporal Pattern Attention(TPA)mechanism was introduced into the CNN-BiLSTM model to automatically assign corresponding weights to the hidden states of the BiLSTM.This allowed the model to differentiate the importance of load sequences at different time intervals.At the same time,in order to solve the problem of the difficulties of selecting the parameters of the temporal model,and the poor global search ability of the whale algorithm,which is easy to fall into the local optimization,the whale algorithm(IWOA)was optimized by using the hybrid strategy of Tent chaos mapping and Levy flight strategy,so as to better search the parameters of the model.In this experiment,the real load data of a region in Zhejiang was taken as an example to analyze,and the prediction accuracy(R2)of the proposed method reached 98.83%.Compared with the prediction models such as BP,WOA-CNN-BiLSTM,SSA-CNN-BiLSTM,CNN-BiGRU-Attention,etc.,the experimental results showed that the model proposed in this study has a higher prediction accuracy.
文摘To decrease number of samples for the implementation of color space transformation, a method for modeling the chromatic characterization of video cameras was proposed. An additional transformation was required to predict output RGB values for an input color. This additional transformation was based on spectral reflectance relationship. The transformed color coordinates were taken as inputs of a multilayer neural network. Based on network outputs, the RGB values to be predicted were calculated. Experimental results were given to illustrate the performance of the method. Even though much less number of training samples are used, this method can also perform well on this color space transformation.
文摘At present, multi-se nsor fusion is widely used in object recognition and classification, since this technique can efficiently improve the accuracy and the ability of fault toleranc e. This paper describes a multi-sensor fusion system, which is model-based and used for rotating mechanical failure diagnosis. In the data fusion process, the fuzzy neural network is selected and used for the data fusion at report level. By comparing the experimental results of fault diagnoses based on fusion data wi th that on original separate data,it is shown that the former is more accurate than the latter.
文摘To transfer the color data from a device (video camera) dependent color space into a device? independent color space, a multilayer feedforward network with the error backpropagation (BP) learning rule, was regarded as a nonlinear transformer realizing the mapping from the RGB color space to CIELAB color space. A variety of mapping accuracy were obtained with different network structures. BP neural networks can provide a satisfactory mapping accuracy in the field of color space transformation for video cameras.
文摘Traditional scheduled maintenance systems are costly, labor intensive, and typically provide noncomprehensive detection and diagnosis of engine faults. The engine monitoring system (EMS) on modern aircrafts has the potential to provide maintenance personnel with valuable information for detecting and diagnosing engine faults. In this paper, an RBF neural network approach is applied to aeroengine gas path fault diagnosis. It can detect multiple faults and quantify the amount of deterioration of the various engine components as a function of measured parameters. The results obtained demonstrate that the accuracy of diagnosis is consistent with practical requirements. The approach takes advantage of the nonlinear mapping feature of neural networks to capture the appropriate characteristics of an aeroengine. The methodology is generic and applicable to other similar plants having high complexity.
文摘A methodology is presented whereby a neural network is used to learn the inverse kinematic relationships of the position and orientation of a six joint manipulator. The arm solution for the orientation of a manipulator using a self organizing neural net is studied in this paper. A new training model of the self organizing neural network is proposed by thoroughly studying Martinetz, Ritter and Schulten′s self organizing neural network based on Kohonen′s self organizing mapping algorithm using a Widrow Hoff type error correction rule and closely combining the characters of the inverse kinematic relationship for a robot arm. The computer simulation results for a PUMA 560 robot show that the proposed method has a significant improvement over other methods documented in the references in self organizing capability and precision by training process.
文摘Four common oil analysis techniques, including the ferrography analysis （FA）, the spectrometric oil analysis （SOA）, the particle count analysis （PCA）, and the oil quality testing （OQT）, are used to implement the military aeroengine wear fault diagnosis during the test drive process. To improve the precision and the reliability of the diagnosis, the aeroengine wear fault fusion diagnosis method based on the neural networks （NN） and the Dempster-Shafter （D-S） evidence theory is proposed. Firstly, according to the standard value of the wear limit, original data are pre-processed into Boolean values. Secondly, sub-NNs are established to perform the single diagnosis, and their training samples are dependent on experiences from experts. After each sub-NN is trained, diagnosis results are obtained. Thirdly, the diagnosis results of each sub-NN are considered as the basic probability allocation value to faults. The improved D-S evidence theory is applied to the fusion diagnosis, and the final fusion results are obtained. Finally, the method is verified by a diagnosis example.
文摘Injection of water to enhance oil production is commonplace, and improvements in understanding the process are economically important. This study examines predictive models of the injection-to-production ratio. Firstly, the error between the fitting and actual injection-production ratio is calculated with such methods as the injection-production ratio and water-oil ratio method, the material balance method, the multiple regression method, the gray theory GM (1,1) model and the back-propogation (BP) neural network method by computer applications in this paper. The relative average errors calculated are respectively 1.67%, 1.08%, 19.2%, 1.38% and 0.88%. Secondly, the reasons for the errors from different prediction methods are analyzed theoretically, indicating that the prediction precision of the BP neural network method is high, and that it has a better self-adaptability, so that it can reflect the internal relationship between the injection-production ratio and the influencing factors. Therefore, the BP neural network method is suitable to the prediction of injection-production ratio.
文摘Rate of penetration of a Tunnel Boring Machine(TBM) in a rock environment is generally a key parameter for the successful accomplishment of a tunneling project.This paper presents the results of a study into the application of an Artificial Neural Network(ANN) technique for modeling the penetration rate of tunnel boring machines.A database,including actual,measured TBM penetration rates,uniaxial compressive strengths of the rock,the distance between planes of weakness in the rock mass and rock quality designation was established.Data collected from three different TBM projects(the Queens Water Tunnel,USA,the Karaj-Tehran water transfer tunnel,Iran,and the Gilgel Gibe II hydroelectric project,Ethiopia).A five-layer ANN was found to be optimum,with an architecture of three neurons in the input layer,9,7 and 3 neurons in the first,second and third hidden layers,respectively,and one neuron in the output layer.The correlation coefficient determined for penetration rate predicted by the ANN was 0.94.
基金Projects 50135030 and 60404014 supported by National Natural Science Foundation of China
文摘With the revival of magnetorheological technology research in the 1980’s, its application in vehicles is in- creasingly focused on vibration suppression. Based on the importance of magnetorheological damper modeling, non- parametric modeling with neural network, which is a promising development in semi-active online control of vehicles with MR suspension, has been carried out in this study. A two layer neural network with 7 neurons in a hidden layer and 3 inputs and 1 output was established to simulate the behavior of MR damper at different excitation currents. In the neural network modeling, the damping force is a function of displacement, velocity and the applied current. A MR damper for vehicles is fabricated and tested by MTS; the data acquired are utilized for neural network training and vali- dation. The application and validation show that the predicted forces of the neural network match well with the forces tested with a small variance, which demonstrates the effectiveness and precision of neural network modeling.
基金Projects 50774080 supported by the National Natural Science Foundation of China200348 by the Foundation for the National Excellent Doctoral Dis-sertation of China
文摘A new mathematical model to estimate the parameters of the probability-integral method for mining subsidence prediction is proposed.Based on least squares support vector machine(LS-SVM) theory, it is capable of improving the precision and reliability of mining subsidence prediction.Many of the geological and mining factors involved are related in a nonlinear way.The new model is based on statistical theory(SLT) and empirical risk minimization(ERM) principles.Typical data collected from observation stations were used for the learning and training samples.The calculated results from the LS-SVM model were compared with the prediction results of a back propagation neural network(BPNN) model.The results show that the parameters were more precisely predicted by the LS-SVM model than by the BPNN model.The LS-SVM model was faster in computation and had better generalized performance.It provides a highly effective method for calculating the predicting parameters of the probability-integral method.
基金the Fundamental Research Foundation of Harbin Engineering University Foundation under Grant No.HEUFT08001
文摘Fuzzy neural networks （FNN） based on Gaussian membership functions can effectively control the motion of underwater vehicles. However, their operating processes and training algorithms are complicated, placing great demands on embedded hardware. This paper presents an advanced FNN with an S membership function matching the motion characteristics of mini underwater vehicles with wings. A leaming algorithm was then developed. Simulation results showed that the modified FNN is a simpler algorithm with faster calculations and improves responsiveness, compared with a Gaussian membership function-based FNN. It is applicable for mini underwater vehicles that don＇t need accurate positioning but must have good maneuverability.
文摘A discussion is devoted to the design of an adaptive flight control system of the armed helicopter using wavelet neural network method. Firstly, the control loop of the attitude angle is designed with a dynamic inversion scheme in a quick loop and a slow loop. respectively. Then, in order to compensate the error caused by dynamic inversion, the adaptive flight control system of the armed helicopter using wavelet neural network method is put forward, so the BP wavelet neural network and the Lyapunov stable wavelet neural network are used to design the helicopter flight control system. Finally, the typical maneuver flight is simulated to demonstrate its validity and effectiveness. Result proves that the wavelet neural network has an engineering practical value and the effect of WNN is good.
文摘Reinforcement learning is an excellent approach which is used in artificial intelligence,automatic control, etc. However, ordinary reinforcement learning algorithm, such as Q-learning with lookup table cannot cope with extremely complex and dynamic environment due to the huge state space. To reduce the state space, modular neural network Q-learning algorithm is proposed, which combines Q-learning algorithm with neural network and module method. Forward feedback neural network, Elman neural network and radius-basis neural network are separately employed to construct such algorithm. It is revealed that Elman neural network Q-learning algorithm has the best performance under the condition that the same neural network training method, i.e. gradient descent error back-propagation algorithm is applied.
文摘To solve the problem of altitude control of a tilt tri-rotor unmanned aerial vehicle(UAV)in the transition mode,this study presents a grey wolf optimization(GWO)based neural network adaptive control scheme for a tilt trirotor UAV in the transition mode.Firstly,the nonlinear model of the tilt tri-rotor UAV is established.Secondly,the tilt tri-rotor UAV altitude controller and attitude controller are designed by a neural network adaptive control method,and the GWO algorithm is adopted to optimize the parameters of the neural network and the controllers.Thirdly,two altitude control strategies are designed in the transition mode.Finally,comparative simulations are carried out to demonstrate the effectiveness and robustness of the proposed control scheme.
