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2014 | 24 | 2 | 357-369
Tytuł artykułu

Design of a multivariable neural controller for control of a nonlinear MIMO plant

Treść / Zawartość
Warianty tytułu
Języki publikacji
EN
Abstrakty
EN
The paper presents the training problem of a set of neural nets to obtain a (gain-scheduling, adaptive) multivariable neural controller for control of a nonlinear MIMO dynamic process represented by a mathematical model of Low-Frequency (LF) motions of a drillship over the drilling point at the sea bottom. The designed neural controller contains a set of neural nets that determine values of its parameters chosen on the basis of two measured auxiliary signals. These are the ship's current forward speed measured with respect to water and the systematically calculated difference between the course angle and the sea current (yaw angle). Four different methods for synthesis of multivariable modal controllers are used to obtain source data for training the neural controller with parameters reproduced by neural networks. Neural networks are designed on the basis of 3650 modal controllers obtained with the use of the pole placement technique after having linearized the model of LF motions made by the vessel at its nominal operating points in steady states that are dependent on the specified yaw angle and the sea current velocity. The final part of the paper includes simulation results of system operation with a neural controller along with conclusions and final remarks.
Rocznik
Tom
24
Numer
2
Strony
357-369
Opis fizyczny
Daty
wydano
2014
otrzymano
2013-04-29
poprawiono
2013-12-20
poprawiono
2014-02-21
Twórcy
  • Faculty of Electrical Engineering, West Pomeranian University of Technology in Szczecin, 26 Kwietnia 10, 71-126 Szczecin, Poland
  • Faculty of Electrical Engineering, West Pomeranian University of Technology in Szczecin, 26 Kwietnia 10, 71-126 Szczecin, Poland
  • Faculty of Electrical Engineering, West Pomeranian University of Technology in Szczecin, 26 Kwietnia 10, 71-126 Szczecin, Poland
Bibliografia
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  • Bańka, S., Dworak, P. and Brasel, M. (2010a). On control of nonlinear dynamic MIMO plants using a switchable structure of linear modal controllers, Pomiary, Automatyka, Kontrola 56(5): 385-391, (in Polish).
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  • Bańka, S., Dworak, P. and Jaroszewski, K. (2011). Problems associated with realization of neural modal controllers designed to control multivariable dynamic systems, in K. Malinowski and R. Dindorf (Eds.), Advances of Automatics and Robotics, Kielce University of Technology Press, Kielce, pp. 27-41, (in Polish).
  • Bańka, S., Dworak, P. and Jaroszewski, K. (2013). Linear adaptive structure for control of a nonlinear MIMO dynamic plant, International Journal of Applied Mathematics and Computer Science 23(1): 47-63, DOI: 10.2478/amcs-2013-0005.
  • Bańka, S. and Latawiec, K.J. (2009). On steady-state error-free regulation of right-invertible LTI MIMO plants, Proceedings of the 14th International Conference on Methods and Models in Automation and Robotics, MMAR 2009, Międzyzdroje, Poland, DOI: 10.3182/20090819-3-PL-3002.00066.
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Typ dokumentu
Bibliografia
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