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Stable neural network based model predictive control

Stable neural network based model predictive control

引用

Conference on control and Fault-Tolerant Systems

作者： Krzysztof Patan Jozef Korbicz Institute of Control and Computation Engineering University of Zielona Gora

ISBN: (纸本)9781479928569

The paper presents nonlinear model predictive control designed using recurrent neural network. A recurrent neural network is trained to act as the one-step ahead predictor, which is then used succesively to obtain k-step ahead prediction of the plant output. Based on the neural predictor, the control law is derived solving a constrained optimization problem. The stability of the considered predictive scheme is also investigated showing that a cost function is monotonically decreasing with respect to time. Derived stability conditions are used to redefine a constrained optimization in order to calculate a control, which guarantees the stable work of the control system. The quality of the proposed stable predictive scheme is tested using a tank unit simulator realized in MATLAB/Simulink environment.

关键词： nonlinear model predictive control Constrained optimization Cost functions recurrent neural nets Model predictive control Predictive control control law control systems stalls(animals) distributed model predictive control Neural network

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Supervisory control of Cyber-Physical Systems Subject to Actuator Jamming Attacks 20

Supervisory Control of Cyber-Physical Systems Subject to Act...

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20th IEEE International Conference on Networking, Sensing and control, ICNSC 2023

作者： Duo, Wenli Wang, Shouguang Zhou, MengChu You, Dan Wisniewski, Remigiusz Bazydlo, Grzegorz Macau University of Science and Technology Institute of System Engineering China Zhejiang Gongshang University School of Information and Electronic Engineering Hangzhou China University of Zielona Góra Institute of Control and Computation Engineering Zielona Góra Poland

ISBN: (纸本)9798350369502

In this paper, we examine the supervisory control problem for cyber-physical systems vulnerable to actuator jamming attacks, which cause control command loss during transmission. We study this issue within the framework of discrete event systems. First, an attack structure is constructed by analyzing the closed-loop control behavior under jamming attacks. We then explore a solution to the supervisory control problem by introducing a concept of dynamically controllable language. In particular, an existence condition for a robust and nonblocking supervisor is obtained, and an algorithm deriving a supervisor capable of defending against actuator jamming attacks is proposed. An automated guided vehicle system is used as an example to demonstrate the proposed concepts and algorithm. © 2023 IEEE.

关键词： Cyber Physical System

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Application of grid technology to complex systems control and simulation

Application of grid technology to complex systems control an...

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Summer Computer Simulation Conference 2006, SCSC 2006, Part of the 2006 Summer Simulation Multiconference, SummerSim 2006

作者： Karpowicz, Michal Niewiadomska-Szynkiewicz, Ewa Kozakiewicz, Adam Wawozowa 18 02-796 Warsaw Poland Institute of Control and Computation Engineering Warsaw University of Technology Nowowiejska 15/19 00-665 Warsaw Poland

ISBN: (纸本)9781622763528

The paper is concerned with computational research for complex systems. Large-scale physical systems operate in inherently parallel environments. It follows that there are many opportunities to admit parallelism into both the algorithm of control implementation and simulation of the system operation. The paper addresses issues associated with the application of grid technology to simulation and on-line flood operation in multireservoir water systems. A case study of the upper Vistula river basin system in the southern part of Poland is presented and discussed. The main goal of the paper is to show the wide applicability of grids to support research and management of the large-scale environmental systems.

关键词： Flood control

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Accuracy and computational efficiency of suboptimal nonlinear predictive control based on neural models

Accuracy and computational efficiency of suboptimal nonlinea...

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作者： Lawryńczuk, MacIej Institute of Control and Computation Engineering Faculty of Electronics and Information Technology Warsaw University of Technology ul. Nowowiejska 15/19 00-665 Warsaw Poland

This paper shows control accuracy and computational efficiency of suboptimal model predictive control (MPC) based on neural models. The algorithm uses on-line a neural model of the process to determine its local linear approximation and a nonlinear free trajectory. Unlike the fully-fledged nonlinear MPC technique, which hinges on non-convex optimisation, thanks to linearisation the suboptimal algorithm requires solving on-line only a quadratic optimisation problem. Two nonlinear processes are considered: a polymerisation reactor and a distillation column. In the first case MPC based on a linear model is unstable, in the second case it is slow. It is demonstrated that the suboptimal algorithm in comparison to the nonlinear MPC with full nonlinear optimisation: (a) results in similar closed-loop control performance and (b) significantly reduces the computational burden. © 2010 Elsevier B.V. All rights reserved.

关键词： Model predictive control

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The generation of letter-to-sound rules for grapheme-to-phoneme conversion

The generation of letter-to-sound rules for grapheme-to-phon...

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International Conference on Human System Interaction

作者： Pawel Przybysz Wlodzimierz Kasprzak Institute of Control and Computation Engineering Warsaw University of Technology

ISBN: (纸本)9781467356350

This paper presents an approach to letter-to-sound translation for the Polish language that is a part of a speech recognition system. It describes the process of automatic generation of Polish letter-to-sound (LTS) rules. The LTS rules were trained with a Polish phonetic lexicon, that was extracted from the "wictionary" - a Polish on-line dictionary. This lexicon contains 35.826 entries. We examined a novel method for creating the letter-to-phone allowable pairing, that applies the "IBM Model 1" algorithm. Such automatically generated allowed letter-to-sound pairs were compared with a second pairing map, created by an expert. Both allowable pairing maps were used separately to train the Polish LTS rules. The test results verify that our generated pairing map leads to a more compact LTS model than the expert-made one.

关键词： Polish LTS Long-Term Survivors speech recognition system Pairing Dictionaries as Topic Clinical Test Result autogeneration Rule Professional personnel maps

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A Majorization-Minimization Algorithm for Optimal Sensor Location in Distributed Parameter Systems 21st

A Majorization-Minimization Algorithm for Optimal Sensor Loc...

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21st Polish control Conference, PCC 2023

作者： Ucmski, Dariusz Institute of Control and Computation Engineering University of Zielona Gora Ul. prof. Z. Szafrana 2 Zielona Gora65-516 Poland

ISBN: (纸本)9783031351693

The wide availability of effective and efficient convex optimization algorithms makes convex relaxation of optimum sensor location problems enjoy high popularity. The main drawback of this approach, however, is that the performance gap between the optimal solution of the original combinatorial problem and the heuristic solution of the corresponding relaxed continuous problem can hardly be neglected. As a countermeasure, the original design criterion is often extended by addition of some kind of sparsity-enforcing penalty term. Unfortunately, the appealing problem convexity is then lost and the question of how to control the influence of this penalty so as not to excessively deteriorate the optimal relaxed solution remains open. This is why an alternative problem formulation is proposed here, in which the sparsity-promoting term is directly minimized subject to the constraint that the efficiency of the sensor configuration with respect to the employed design criterion is no less than an arbitrarily set threshold. This brings the degree of optimality of the produced solution under direct control. An efficient majorization-minimization algorithm is then employed in combination with generalized simplicial decomposition to produce sparse relaxed solu-tions. The attendant computations boil down to solving a sequence of low-dimensional convex optimization problems, which constitutes a clear advantage of the proposed technique. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2023.

关键词： Convex optimization

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Design of asynchronously stimulated robot behaviours

Design of asynchronously stimulated robot behaviours

引用

Workshop on Robot Motion and control

作者： Piotr Trojanek Tomasz Kornuta Cezary Zielinski Institute of Control and Computation Engineering Warsaw University of Technology

ISBN: (纸本)9781467355094

The paper presents how the design of robot control systems should deal with two fundamental aspects of their functioning: asynchronous arrival of data from the environment and their processing resulting in the required system behaviour. The behaviour of the system is described by transition functions. However, the definition of those functions must take into account that not all data required for controlling the system are readily available, thus different variants of transition functions taking into account only the currently available data have to be defined. The overall system behaviour is then specified in terms of Petri nets, while the mathematical expression of the transition functions is complemented by the use of data flow diagrams. The paper presents the general design method and exemplifies it on the case of a robot visual servo utilising two cameras: an eye-in-hand and a stand-alone one.

关键词： Asynchronous system behavior robot control system data flow Petri nets Robot overall design

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A fuzzy logic approach to improve phone segmentation a case study of the Dutch language 9

A fuzzy logic approach to improve phone segmentation a case ...

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9th International Joint Conference on computational Intelligence, IJCCI 2017

作者： Milewski, Victor Bilgin, Aysenur Kumbasar, Tufan Institute for Logic Language and Computation University of Amsterdam Science Park 107 Amsterdam Netherlands Control and Automation Engineering Department Istanbul Technical University Istanbul Turkey

ISBN: (纸本)9789897582745

Phone segmentation is an essential task for Automatic Speech Recognition (ASR) systems, which still lack in performance when compared to the ability of humans' speech recognition. In this paper, we propose novel Fuzzy Logic (FL) based approaches for the prediction of phone durations using linguistic features. To the best of our knowledge, this is the first development and deployment of FL based approaches in the area of phone segmentation. In this study, we perform a case study on the Dutch IFA corpus, which consists of 50000 words. Different experiments are conducted on tuned FL Systems (FLSs) and Neural Networks (NNs). The experimental results show that FLSs are more efficient in phone duration prediction in comparison to their Neural Network counterparts. Furthermore, we observe that differentiating between the vowels and the consonants improves the performance of predictions, which can facilitate enhanced ASR systems. The FLS with the differentiation between vowels and consonants had an average Mean Average Precision Error of 43.3396% on a k=3 fold. We believe that this first attempt of the employment of FL based approaches will be an important step for a wider deployment of FL in the area of ASR systems. © 2017 by SCITEPRESS - Science and Technology Publications, Lda.

关键词： Forecasting

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The Bayesian formalism for combining multiple decision of a neural network ensemble 6

The Bayesian formalism for combining multiple decision of a ...

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6th European control Conference, ECC 2001

作者： Marciniak, A. Korbicz, J. Institute of Control and Computation Engineering Technical University of Zielona Góra ul. Podgórna 50 Zielona Góra65-246 Poland

ISBN: (纸本)9783952417362

A new methodology for improving the performance and training of neural network classifiers is presented. The main idea is based on using redundant classifiers in an ensemble in order to guarantee the best generalisation ability of the classifier. As compared to previous designs, a novel method for output combination based on weighted averaging is introduced. The proposed technique consist in considering the classes independently of one another and calculating the importance parameters, i.e. the weights, for individual outputs of the networks. In order to draw a comparison with previous methods, a real data medical benchmark is used. © 2001 EUCA.

关键词： Bayesian networks

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Neighbourhood approach to bisimulation in state abstraction for quantized domains

Neighbourhood approach to bisimulation in state abstraction ...

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International Conference on Methods and Models in Automation and Robotics (MMAR)

作者： Bartosz Papis Andrzej Pacut Institute of Control and Computation Engineering Warsaw University of Technology

State abstraction [1] is one of solutions to the curse of dimensionality [2] problem, and possibly allows real-life application of AI algorithms. We present a new state abstraction algorithm inspired by stimulus discrimination theory from behavioral psychology [3], [4] and by current work on bisimulation theory as applied to reinforcement learning [5], [6], [7]. The new way of comparing state abstractions with the proposed notion of the ambiguity coefficient is evaluated on a well known Coffee Task domain. It is also a foundation for applying bisimulation approach to continuous domains.

关键词： Abstracts Vectors Aerospace electronics Indexes Robots Heuristic algorithms Context

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