Non-Linear System Control using Path Generating Neural Networks
An increasing amount of literature is available on the control of non-linear systems. For many of these systems, linear design techniques are ineffective. However, a non-linear augmentation of the linear control is sometimes able to perform the control. Determining the augmenting signal is a formidable task. However, recent work in the area of path planning has given rise to some useful tools. These tools can be used to design a complete controller. The final design takes advantage of the mapping abilities of neural networks to perform path planning. A path planning algorithm, taken from previously published work, was used to generate training data for the neural network. The results of simulation tests show that the controller composed of a linear gain and a path planning neural network was capable of controlling the non-linear system. The results are for a small class of non-trivial trajectories. Further work is planned to generalize the results.
R. S. Woodley and L. Acar, "Non-Linear System Control using Path Generating Neural Networks," Intelligent Engineering Systems through Artificial Neural Networks, vol. 8, pp. 599-604, American Society of Mechanical Engineers (ASME), Nov 1998.
Artificial Neural Networks in Engineering Conference, ANNIE '98 (1998: Nov. 1-4, St. Louis, MO)
Electrical and Computer Engineering
Keywords and Phrases
Algorithms; Computer simulation; Light trailers; Motion planning; Neural networks; Backward maneuvering; Trailer truck; Nonlinear control systems
International Standard Book Number (ISBN)
Article - Conference proceedings
© 1998 American Society of Mechanical Engineers (ASME), All rights reserved.