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ABSTRACT
This paper proposed a technique based on NARMA L2
neurocontroller to control a trajectory of a nonlinear plant.
The NARMA L2 neurocontroller was first trained to
cancel both the nonlinearity and dynamic of the system.
Then, it was reconfigured to become a controller. Once
the NARMA L2 neurocontroller suppresses both the
nonlinearlity and dynamic behaviour, the closed loop
system becomes implicit algebraic relation between the
input and the output. Consequently, the system is able to
perfectly follow a smooth reference trajectory even it is
generated in realtime. This technique was successfully
implemented to control the trajectory of a nonlinear disk
plant to follow a sine sweep trajectory and also to follow
the input device in realtime. Thus, it is a remarkable
candidate for a trajectory controller for a nonlinear
system.
KEY WORDS
Nonlinear Trajectory Control, Neural network.
1. Introduction
The determination of the trajectory of control effort that
gives the output of a nonlinear system to follow a desired
trajectory is a very challenging task since the output
depends nonlinearly on the control effort. Since the
system operates over a large working space, a controller
design based on linear approximation of the system
around a single equilibrium point is not well performed.
The primary aim of this project is to design an accurate
and practical tracking controller to control a nonlinear
plant to follow a varying position reference over a large
working space. In recent years, this problem draws much
and increasing attention from industry since the
mechanical transmission is to be replaced with By-wire
technology in the near future to reduce cost and increase
functions of the devices. For example, the acceleration
pedal of some new vehicles is now using this technology,
i.e., the position of the pedal, sensed by encoders, is used
to control the opening of the throttle via electrical signal
cables. The steer by wire [1] is also coming to the
market. The other applications that need an accurate
675-044
2. Narma L2 Neurocontroller
NARMA stands for nonlinear autoregressive moving
average. It is a discrete-time representation of the
nonlinear dynamical system in neighborhood of the
equilibrium state. When the system is nth order nonlinear
SISO and has a relative degree d.The companion form of
NARMA can be written as [5]
y(k + d ) = F [y(k ), y(k 1),..., y(k n + 1),
u(k), u(k 1),..., u(k n + 1)]
where
n 1
i =1
gi [ y ( k ), y ( k 1),..., y (k n + 1)]u ( k i )
Where
f = F [( y ( k ), ..., y ( k n + 1), 0, 0,..., 0]
gi =
F
u(k i) ( y(k ),..., y(k n+1); u(k )=0,..., u(k n+1)=0)
NARMA L2
y ( k + d ) = f [ y ( k ), y ( k 1),..., y ( k n + 1),
u ( k 1),..., u ( k n + 1)]
+ g[ y ( k ), y ( k 1),..., y ( k n + 1),
u ( k 1),..., u ( k n + 1)] u ( k )
Where
g=
F
u(k ) ( y(k ),..., y(k n+1); u(k )=0, u(k 1),..., u(k n+1))
u(k +1) =
Z-1
yt+1
Z-1
Z-1
Z-1
W
b
W
W
W
b
W
b
W
b
yrt+2
Reference
Trajectory
g()
ut+1
+
f()
Nonlinear Plant
y (t ) + f ( y (t )) mgl sin(y (t ))=u (t )
This is a second order nonlinear plant which can be
modeled as n-dimensional discrete time as
] [
u(k +1) =
Input (volts)
a) Mechanical Plant
4. Experimental Results
In the first experiment, the trajectory is sine sweep
internally generated by real time controller. The initial
position of the system is not on the trajectory at the
beginning. The NARMA L2 neurocontroller quickly
bring the system to the trajectory but the chattering is
observed. This is because the computed control effort to
rapidly bring the system to the trajectory is quite high and
exceeds the hardware limit. The control effort is then
saturate at the maximum possible effort. However, the
control effort decreases when the system is near the
reference trajectory. The chattering is also decreasing.
When the computed control effort is within the hardware
limit, the neurocontroller successfully control the system
to stay on the reference trajectory. The tracking response
to the sine sweep is both in phase and magnitude ratio is
one. The NARMA L2 is a linear approximation about
u(k)=0 and gives a perfect response when the system is on
the trajectory. At this time, the control effort, u, is around
the zero value.
3
2
1
0
-1
-2
-3
0
10
Time (s)
5. Conclusion
Acknowledgement
This research is sponsor by the Chulalongkorn university
century academic development project.
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