Adaptive Global Sliding-Mode Control for Dynamic Systems Using Double Hidden Layer Recurrent Neural Network Structure

Research on robust adaptive control of strong nonlinear complex large power grids

In this paper, a Multi-Index Nonlinear Robust Adaptive Control (MINRAC) method was proposed for ultra-complex multi-input multi-output power systems with uncertain parameter factors and external disturbances. The controller designed by this method has excellent static and dynamic characteristics. Under the condition of the uncertainty of system parameters and external disturbance at the same time, the MINRAC method can ensure that the multiple indexes concerned by ultra-complex power systems can be controlled at their expected values. The simulation results showed that the control mechanism of MINRAC method was consistent in both single-machine infinite bus system and multi-machine interconnected coupling system. The output function chooses power angle, angular frequency and terminal voltage as constraints. When the system has parameter uncertainty and external interference, the uncertain parameter values are adjusted by adaptive control to force these indicators to tend to the given expected value. For three-phase short circuit, which is the most serious fault in power system, the use of multi index nonlinear robust controller can ensure that the system is stable in a wide range and has better dynamic performance.

Adaptive Robust Control of Uncertain Euler-Lagrange Systems Using Gaussian Processes

This article proposes a novel adaptive robust control approach based on Gaussian processes (GPs) for the high-precision tracking problem of uncertain Euler-Lagrange (EL) systems with time-varying external disturbances. Given a prior dynamic model, the GP regression (GPR) technique is employed to obtain a nonparametric data-based uncertainty model, including its probabilistic confidence intervals. Based on the adaptive sliding mode control (ASMC) framework, the posterior means of GPs are utilized for dynamic compensation, whereas the posterior variances are applied to adjust the feedback gains. This proposed control strategy is robust against significant system uncertainty with low feedback gains. A novel adaptive law for updating hyperparameters based on tracking error feedback is presented, thereby improving the performance of both tracking control and GP modeling simultaneously. Compared to existing likelihood-based optimization methods, this hyperparameter adaptive law enables data-efficient and fast uncertainty learning for control applications. The proposed control strategy guarantees the semiglobal asymptotic convergence to zero tracking error with a specified probability. Simulations using an underwater robot model demonstrate that the utilization of GPs and hyperparameter adaptive law significantly improves the performance of tracking control and uncertainty learning.

Finite-time adaptive super-twisting sliding mode control for autonomous robotic manipulators with actuator faults

This paper proposes a new adaptive super-twisting global integral terminal sliding mode control algorithm for the trajectory tracking of autonomous robotic manipulators with uncertain parameters, unknown disturbances, and actuator faults. Firstly, a novel global integral terminal sliding mode surface is designed to ensure that the tracking errors of autonomous robotic manipulators converge to zero in finite time and the global robustness of the system is also enhanced. Then a new adaptive method is devised to deal with the adverse effect of nonlinear uncertainty. To suppress the chattering phenomenon, the adaptive super-twisting algorithm is used in this paper, which can ensure that the control torque is a continuous input signal. Based on the adaptive mechanism, the adaptive super-twisting global integral terminal sliding mode controller is developed to provide superior control performance. The stability analysis of the system is demonstrated by using the Lyapunov method. Ultimately, the effectiveness of the control scheme is confirmed by a simulation study.

Fractional-order finite-time sliding mode control for uncertain teleoperated cyber-physical system with actuator fault

The stability of the teleoperated cyber-physical system with model uncertainty, external disturbance, and actuator fault is addressed in this study by using a suitable fractional-order sliding mode control (SMC) strategy. First, the sliding surface is designed to ensure the better tracking performance of the system. Second, the suggested control method combines SMC with an adaptive strategy to ensure that the system is stable in finite time. Third, neural network (NN) and fuzzy logic system (FLS) are used to estimate the model uncertainty, time-varying delay, external disturbance and unknown coefficient matrices of sliding mode surface, respectively. Finally, the advantages of the proposed control scheme are confirmed by the simulation example.

Compound weighted fusion evaluation and optimization of intelligent tracking algorithm in radar seeker

This paper designs a hierarchical weighted fusion evaluation/optimization scheme for the radar seeker neural network (NN) tracking algorithm. The first weighted fusion of closed-loop performance index is carried out to exclude the hardware influence on algorithm evaluation. Then, according to different tracking scenarios, the tracking index is divided into different periods; a single period score is given by a linear-nonlinear hybrid scoring mechanism. Furthermore, in a single index, the internal scores of different time periods are weighted and fused for the second time to obtain the index overall score. Finally, the third weighted fusion of the multi-index scores obtains the comprehensive score of the algorithm. We design the parameter evaluation case sets and repeat the aforementioned compound weighting; hence the case with the highest comprehensive score is obtained. Finally, the algorithm is optimized by the highest-score case. The experiment using fuzzy NN radar seeker verifies the effectiveness of the method.

Neural network-based adaptive second-order sliding mode control for uncertain manipulator systems with input saturation

In order to solve the trajectory tracking problem for robotic manipulators with dynamic uncertainty, external disturbance and input saturation, a novel second-order sliding mode control scheme based on neural network is proposed in this paper. First of all, a model-based second-order non-singular fast terminal sliding mode controller (SONFTSMC) is designed to overcome the chattering problem under the consideration of uncertain parameters. Then attention is focused on the scenario that all those nonlinear uncertainties are unknown, and a new fuzzy wavelet neural network (FWNN) is designed to estimate those unknown uncertainties via lumping them into one compounded uncertainty. In addition, all parameters in FWNN are adjusted autonomously by using an adaptive method. The proposed second-order non-singular fast terminal sliding mode (SONFTSM) control method not only improves the convergence speed and tracking accuracy of the robotic manipulator, but also enhances its robustness. Finally, the advantages of SONFTSM control strategy over existing sliding mode control methods are verified with comparative simulations.

Low-Cost Implementation of an Adaptive Neural Network Controller for a Drive with an Elastic Shaft

This paper deals with the implementation of an adaptive speed controller applied for two electrical machines coupled by a long shaft. The two main parts of the study are the synthesis of the neural adaptive controller and hardware implementation using a low-cost system based on an STM Discovery board. The framework between the control system, the power converters, and the motors is established with an ARM device. A radial basis function neural network (RBFNN) is used as an adaptive speed controller. The net coefficients are updated (online mode) to ensure high dynamics of the system and correct work under disturbance. The results contain transients achieved in simulations and experimental tests.

Intelligent auxiliary system for music performance under edge computing and long short-term recurrent neural networks

Music performance action generation can be applied in multiple real-world scenarios as a research hotspot in computer vision and cross-sequence analysis. However, the current generation methods of music performance actions have consistently ignored the connection between music and performance actions, resulting in a strong sense of separation between visual and auditory content. This paper first analyzes the attention mechanism, Recurrent Neural Network (RNN), and long and short-term RNN. The long and short-term RNN is suitable for sequence data with a strong temporal correlation. Based on this, the current learning method is improved. A new model that combines attention mechanisms and long and short-term RNN is proposed, which can generate performance actions based on music beat sequences. In addition, image description generative models with attention mechanisms are adopted technically. Combined with the RNN abstract structure that does not consider recursion, the abstract network structure of RNN-Long Short-Term Memory (LSTM) is optimized. Through music beat recognition and dance movement extraction technology, data resources are allocated and adjusted in the edge server architecture. The metric for experimental results and evaluation is the model loss function value. The superiority of the proposed model is mainly reflected in the high accuracy and low consumption rate of dance movement recognition. The experimental results show that the result of the loss function of the model is at least 0.00026, and the video effect is the best when the number of layers of the LSTM module in the model is 3, the node value is 256, and the Lookback value is 15. The new model can generate harmonious and prosperous performance action sequences based on ensuring the stability of performance action generation compared with the other three models of cross-domain sequence analysis. The new model has an excellent performance in combining music and performance actions. This paper has practical reference value for promoting the application of edge computing technology in intelligent auxiliary systems for music performance.

Dynamic Event-Triggered State Estimation for Markov Jump Neural Networks With Partially Unknown Probabilities

This article focuses on the investigation of finite-time dissipative state estimation for Markov jump neural networks. First, in view of the subsistent phenomenon that the state estimator cannot capture the system modes synchronously, the hidden Markov model with partly unknown probabilities is introduced in this article to describe such asynchronization constraint. For the upper limit of network bandwidth and computing resources, a novel dynamic event-triggered transmission mechanism, whose threshold parameter is constructed as an adjustable diagonal matrix, is set between the estimator and the original system to avoid data collision and save energy. Then, with the assistance of Lyapunov techniques, an event-based asynchronous state estimator is designed to ensure that the resulting system is finite-time bounded with a prescribed dissipation performance index. Ultimately, the effectiveness of the proposed estimator design approach combining with a dynamic event-triggered transmission mechanism is demonstrated by a numerical example.

Pattern Formation in a Reaction-Diffusion BAM Neural Network With Time Delay: (k1, k2) Mode Hopf-Zero Bifurcation Case

This article investigates the joint effects of connection weight and time delay on pattern formation for a delayed reaction-diffusion BAM neural network (RDBAMNN) with Neumann boundary conditions by using the (k₁,k₂) mode Hopf-zero bifurcation. First, the conditions for k₁ mode zero bifurcation are obtained by choosing connection weight as the bifurcation parameter. It is found that the connection weight has a great impact on the properties of steady state. With connection weight increasing, the homogeneous steady state becomes inhomogeneous, which means that the connection weight can affect the spatial stability of steady state. Then, the specified conditions for the k₂ mode Hopf bifurcation and the (k₁,k₂) mode Hopf-zero bifurcation are established. By using the center manifold, the third-order normal form of the Hopf-zero bifurcation is obtained. Through the analysis of the normal form, the bifurcation diagrams on two parameters' planes (connection weight and time delay) are obtained, which contains six areas. Some interesting spatial patterns are found in these areas: a homogeneous periodic solution, a homogeneous steady state, two inhomogeneous steady state, and two inhomogeneous periodic solutions.

Network Architecture for Optimizing Deep Deterministic Policy Gradient Algorithms

The traditional Deep Deterministic Policy Gradient (DDPG) algorithm has been widely used in continuous action spaces, but it still suffers from the problems of easily falling into local optima and large error fluctuations. Aiming at these deficiencies, this paper proposes a dual-actor-dual-critic DDPG algorithm (DN-DDPG). First, on the basis of the original actor-critic network architecture of the algorithm, a critic network is added to assist the training, and the smallest Q value of the two critic networks is taken as the estimated value of the action in each update. Reduce the probability of local optimal phenomenon; then, introduce the idea of dual-actor network to alleviate the underestimation of value generated by dual-evaluator network, and select the action with the greatest value in the two-actor networks to update to stabilize the training of the algorithm process. Finally, the improved method is validated on four continuous action tasks provided by MuJoCo, and the results show that the improved method can reduce the fluctuation range of error and improve the cumulative return compared with the classical algorithm.

Finite-Time Disturbance Observer of Nonlinear Systems

In practical applications, for highly nonlinear systems, how to implement control tasks for dynamic systems with uncertain parameters is still a hot research issue. Aiming at the internal parameter fluctuations and external unknown disturbances in nonlinear system, this paper proposes an adaptive dynamic terminal sliding mode control (ADTSMC) based on a finite-time disturbance observer (FTDO) for nonlinear systems. A finite-time disturbance observer is designed to compensate for the unknown uncertainties and a dynamic terminal sliding mode control (DTSMC) method is developed to achieve finite time convergence and weaken system chattering. Moreover, a dual hidden layer recurrent neural network (DHLRNN) estimator is proposed to approximate the sliding mode gain, so that the switching item gain is not overestimated and optimal value is obtained. Finally, simulation experiments of an active power filter model verify the designed ADTSMC method has better steady-state and dynamic-steady compensation effects with at least 1% THD reduction in the presence of nonlinear load and disturbances compared with the simple adaptive DTSMC law.

Adaptive Current Control for Grid-Connected Inverter with Dynamic Recurrent Fuzzy-Neural-Network

The grid-connected inverter is a vital power electronic equipment connecting distributed generation (DG) systems to the utility grid. The quality of the grid-connected current is directly related to the safe and stable operation of the grid-connected system. This study successfully constructed a robust control system for a grid-connected inverter through a dynamic recurrent fuzzy-neural-network imitating sliding-mode control (DRFNNISMC) framework. Firstly, the dynamic model considering system uncertainties of the grid-connected inverter is described for the global integral sliding-mode control (GISMC) design. In order to overcome the chattering phenomena and the dependence of the dynamic information in the GISMC, a model-free dynamic recurrent fuzzy-neural-network (DRFNN) is proposed as a major controller to approximate the GISMC law without the extra compensator. In the DRFNN, a Petri net with varied threshold is incorporated to fire the rules, and only the parameters of the fired rules are adapted to alleviate the computational workload. Moreover, the network is designed with internal recurrent loops to improve the dynamic mapping capability considering the uncertainties in the control system. In addition, to assure the parameter convergence in the adaptation and the stability of the designed control system, the adaptation laws for the parameters of the DRFNN are deduced by the projection theorem and Lyapunov stability theory. Finally, the experimental comparisons with the GISMC scheme are performed in an inverter prototype to verify the superior performance of the proposed DRFNNISMC framework for the grid-connected current control.

Design and Analysis of Sliding-Mode Artificial Neural Network Control Strategy for Hybrid PV-Battery-Supercapacitor System

Nowadays, the growing integration of renewable energy sources poses several challenges to electrical energy systems. The latter need be controlled by grid rules to ensure their stability and maintain the efficiency of renewable energy consumption. In this context, a novel HESS (hybrid energy storage system) control strategy, combining the PV (photovoltaic) generator with FLC (fuzzy logic control), SC (super-capacitor), and lithium-ion battery modules, is advanced. The proposed energy control rests on monitoring of the low-frequency and high-frequency electrical power components of the mismatch between power demand and generation, while applying the error component of the lithium-ion battery current. On accounting for the climatic condition and load variation considerations, the SC undertakes to momentarily absorb the high-frequency power component, while the low-frequency component is diverted to the lithium-ion battery. To improve the storage system’s performance, lifetime, and avoid load total disconnection during sudden variations, we consider equipping the envisioned energy control design with controllers of SM and ANN types. The MATLAB/Simulink based simulation results turn out to testify well the investigated HESS control scheme’s outstanding performance and efficiency in terms of DC bus voltage rapid regulation, thereby enhancing the battery’s lifetime and ensuring the PV system’s continuous flow.

A Novel Data-Driven Estimation Method for State-of-Charge Estimation of Li-Ion Batteries

With the increasing proportion of Li-ion batteries in energy structures, studies on the estimation of the state of charge (SOC) of Li-ion batteries, which can effectively ensure the safety and stability of Li-ion batteries, have gained much attention. In this paper, a new data-driven method named the probabilistic threshold compensation fuzzy neural network (PTCFNN) is proposed to estimate the SOC of Li-ion batteries. Compared with other traditional methods that need to build complex battery models, the PTCFNN only needs data learning to obtain nonlinear mapping relationships inside Li-ion batteries. In order to avoid the local optimal value problem of traditional BP neural networks and the fixed reasoning mechanism of traditional fuzzy neural networks, the PTCFNN combines the advantages of a probabilistic fuzzy neural network and a compensation fuzzy neural network so as to improve the learning convergence speed and optimize the fuzzy reasoning mechanism. Finally, in order to verify the estimation performance of the PTCFNN, a 18650-20R Li-ion battery was used to carry out the estimation test. The results show that the mean absolute error and mean square error are very small under the conditions of a low-current test and dynamic-current test, and the overall estimation error is less than 1%, which further indicates that this method has good estimation ability.

Talent Cultivation of New Ventures by Seasonal Autoregressive Integrated Moving Average Back Propagation Under Deep Learning

This study combines the discovery methods and training of innovative talents, China’s requirements for improving talent training capabilities, and analyses the relationship between the number of professional enrollments in colleges and universities and the demand for skills in specific places. The research learns the characteristics and training models of innovative talents, deep learning (DL), neural networks, and related concepts of the seasonal difference Autoregressive Moving Average (ARMA) Model. These concepts are used to propose seasonal autoregressive integrated moving average back propagation (SARIMA-BP). Firstly, the SARIMA-BP artificially sets the weight parameter values and analyzes the model’s convergence speed, superiority, and versatility. Then, particle swarm optimization (PSO) algorithm is used to pre-process the model and test its independence. The accuracy of the model is checked to ensure its proper performance. Secondly, the model analyzes and predicts the relationship between the number of professional enrollments of 10 colleges and universities in a specific place and the talent demand of local related enterprises. Moreover, the established model is optimized and tested by wavelet denoising. Independent testing is done to ensure the best possible performance of the model. Finally, the weight value will not significantly affect the model’s versatility obtained by experiments. The prediction results of professional settings and corporate needs reveal that: there is a moderate correlation between professional locations and corporate needs; colleges and universities should train professional talents for local enterprises and eliminate the practical education concepts.

Optimal Synchronization of Unidirectionally Coupled FO Chaotic Electromechanical Devices With the Hierarchical Neural Network

This article solves the problem of optimal synchronization, which is important but challenging for coupled fractional-order (FO) chaotic electromechanical devices composed of mechanical and electrical oscillators and electromagnetic filed by using a hierarchical neural network structure. The synchronization model of the FO electromechanical devices with capacitive and resistive couplings is built, and the phase diagrams reveal that the dynamic properties are closely related to sets of physical parameters, coupling coefficients, and FOs. To force the slave system to move from its original orbits to the orbits of the master system, an optimal synchronization policy, which includes an adaptive neural feedforward policy and an optimal neural feedback policy, is proposed. The feedforward controller is developed in the framework of FO backstepping integrated with the hierarchical neural network to estimate unknown functions of dynamic system in which the mentioned network has the formula transformation and hierarchical form to reduce the numbers of weights and membership functions. Also, an adaptive dynamic programming (ADP) policy is proposed to address the zero-sum differential game issue in the optimal neural feedback controller in which the hierarchical neural network is designed to yield solutions of the constrained Hamilton-Jacobi-Isaacs (HJI) equation online. The presented scheme not only ensures uniform ultimate boundedness of closed-loop coupled FO chaotic electromechanical devices and realizes optimal synchronization but also achieves a minimum value of cost function. Simulation results further show the validity of the presented scheme.

Cortical Representation of Touch in Silico

With its six layers and ~ 12,000 neurons, a cortical column is a complex network whose function is plausibly greater than the sum of its constituents'. Functional characterization of its network components will require going beyond the brute-force modulation of the neural activity of a small group of neurons. Here we introduce an open-source, biologically inspired, computationally efficient network model of the somatosensory cortex's granular and supragranular layers after reconstructing the barrel cortex in soma resolution. Comparisons of the network activity to empirical observations showed that the in silico network replicates the known properties of touch representations and whisker deprivation-induced changes in synaptic strength induced in vivo. Simulations show that the history of the membrane potential acts as a spatial filter that determines the presynaptic population of neurons contributing to a post-synaptic action potential; this spatial filtering might be critical for synaptic integration of top-down and bottom-up information.

Observer-based adaptive neural tracking control for a class of nonlinear systems with prescribed performance and input dead-zone constraints

This paper investigates the problem of output feedback neural network (NN) learning tracking control for nonlinear strict feedback systems subject to prescribed performance and input dead-zone constraints. First, an NN is utilized to approximate the unknown nonlinear functions, then a state observer is developed to estimate the unmeasurable states. Second, based on the command filter method, an output feedback NN learning backstepping control algorithm is established. Third, a prescribed performance function is employed to ensure the transient performance of the closed-loop systems and forces the tracking error to fall within the prescribed performance boundary. It is rigorously proved mathematically that all the signals in the closed-loop systems are semi-globally uniformly ultimately bounded and the tracking error can converge to an arbitrarily small neighborhood of the origin. Finally, a numerical example and an application example of the electromechanical system are given to show effectiveness of the acquired control algorithm.

A VMD–CISSA–LSSVM Based Electricity Load Forecasting Model

Accurate power load forecasting has an important impact on power systems. In order to improve the load forecasting accuracy, a new load forecasting model, VMD–CISSA–LSSVM, is proposed. The model combines the variational modal decomposition (VMD) data preprocessing method, the sparrow search algorithm (SSA) and the least squares support vector machine (LSSVM) model. A multi-strategy improved chaotic sparrow search algorithm (CISSA) is proposed to address the shortcomings of the SSA algorithm, which is prone to local optima and a slow convergence. The initial population is generated using an improved tent chaotic mapping to enhance the quality of the initial individuals and population diversity. Second, a random following strategy is used to optimize the position update process of the followers in the sparrow search algorithm, balancing the local exploitation performance and global search capability of the algorithm. Finally, the Levy flight strategy is used to expand the search range and local search capability. The results of the benchmark test function show that the CISSA algorithm has a better search accuracy and convergence performance. The volatility of the original load sequence is reduced by using VMD. The optimal parameters of the LSSVM are optimized by the CISSA. The simulation test results demonstrate that the VMD–CISSA–LSSVM model has the highest prediction accuracy and stabler prediction results.

Neural networks trained with high-dimensional functions approximation data in high-dimensional space

Neural networks can approximate data because of owning many compact non-linear layers. In high-dimensional space, due to the curse of dimensionality, data distribution becomes sparse, causing that it is difficulty to provide sufficient information. Hence, the task becomes even harder if neural networks approximate data in high-dimensional space. To address this issue, according to the Lipschitz condition, the two deviations, i.e., the deviation of the neural networks trained using high-dimensional functions, and the deviation of high-dimensional functions approximation data, are derived. This purpose of doing this is to improve the ability of approximation high-dimensional space using neural networks. Experimental results show that the neural networks trained using high-dimensional functions outperforms that of using data in the capability of approximation data in high-dimensional space. We find that the neural networks trained using high-dimensional functions more suitable for high-dimensional space than that of using data, so that there is no need to retain sufficient data for neural networks training. Our findings suggests that in high-dimensional space, by tuning hidden layers of neural networks, this is hard to have substantial positive effects on improving precision of approximation data.

Dynamics Analysis and Design for a Bidirectional Super-Ring-Shaped Neural Network With n Neurons and Multiple Delays

Recently, the dynamics of delayed neural networks has always incurred the widespread concern of scholars. However, they are mostly confined to some simplified neural networks, which are only made up of a small amount of neurons. The main cause is that it is difficult to decompose and analyze generally high-dimensional characteristic matrices. In this article, for the first time, we can solve the computing issues of high-dimensional eigenmatrix by employing the formula of Coates flow graph, and the dynamics is considered for a bidirectional neural network with super-ring structure and multiple delays. Under certain circumstances, the characteristic equation of the linearized network can be transformed into the equation with integration element. By analyzing the equation, we find that the self-feedback coefficient and the delays have significant effects on the stability and Hopf bifurcation of the network. Then, we achieve some sufficient conditions of the stability and Hopf bifurcation on the network. Furthermore, the obtained conclusions are applied to design a standardized high-dimensional network with bidirectional ring structure, and the scale of the standardized high-dimensional network can be easily extended or reduced. Afterward, we propose some designing schemes to expand and reduce the dimension of the standardized high-dimensional network. Finally, the results of theories are coincident with that of experiments.

Adaptive Fuzzy Sliding Mode Control for a Micro Gyroscope with Backstepping Controller

This paper developed an adaptive backstepping fuzzy sliding control (ABFSC) approach for a micro gyroscope. Based on backstepping design, an adaptive fuzzy sliding mode control was proposed to adjust the fuzzy parameters with self-learning ability and reject the system nonlinearities. With the Lyapunov function analysis of error function and sliding surface function, a comprehensive controller is derived to ensure the stability of the proposed control system. The proposed fuzzy control scheme does not need to know the system model in advance and could approximate the system nonlinearities well. The adaptive fuzzy control method has self-learning ability to adjust the fuzzy parameters. Simulation studies were implemented to prove the validity of the proposed ABFSMC strategy, showing that it can adapt to the changes of external disturbance and model parameters and has a satisfactory performance in tracking and approximation.

Adaptive Backstepping Fractional Fuzzy Sliding Mode Control of Active Power Filter

An adaptive fractional-order fuzzy control method for a three-phase active power filter (APF) using a backstepping and sliding mode controller is developed for the purpose of compensating harmonic current and stabilizing the DC voltage quickly. The dynamic model of APF is changed to an analogical cascade system for the convenience of the backstepping strategy. Then a fractional-order sliding mode surface is designed and a fuzzy controller is proposed to approximate the unknown term in the controller, where parameters can be adjusted online. The simulation experiments are conducted and investigated using MATLAB/SIMULINK software package to verify the advantage of the proposed controller. Furthermore, the comparison study between the fractional-order controller and integer-order one is also conducted in order to demonstrate the better performance of the proposed controller in total harmonic distortion (THD), a significant index to evaluate the current quality in the smart grid.