Beruflich Dokumente
Kultur Dokumente
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1. Introduction
.-,
PhD.
Associate Professor.
115
will be presented.
1.
2. ADALINE
Mapti". Ne",.,
H.b*Lill.R.Y.IIIP"
2 3 1U.U.h RW,,R,2:R?2.t)
cilm).lo Cam..&
Y.dO L Y Y F....lini.YntYig,ni.
.*,.e"
llor2ml
W ( k + l ) = W ( k ) - y e(k) x(k)
116
3. MLP-EBPA
5. EXTENDED-RBF
f ( X , U , L , T ) =-
U-L
+L
1+e-%
4. RBF
w,+,(k)=e(k)=y(k)-~(k)
where h i s a constant called "overlapping factor".
When one (or more) of the criteria is not satisfied, the vector
Rk) containing the tuning parameters of the RBF-NN is
updated using the following relationship:
117
pSI
(k + 1) = ps1( k ) + g (=Fflerr(s,)).&, .(x-.uS,)
7. EMRAN-RBF
This Neural.Network is a powerful variation of the standard
MRAN [SI. The growing and pruning mechanisms remains
unchanged, while the parameters are updated following a
%&er takes it all strategy. In practice only the parameters
of the most activated neuron are updated, while all the other
are unchanged. This strategy (named Extended MRAN, or
EMRAN) implies a significant reduction of the number of
parameters to he updated online, and for this reason it is
particularly suitable for online applications. The performance
degradation with respect to the MRAN is minimal:
8. DCS
~~
*
e
u,=0.5(uq+off)
wr = 0 . 5 ( w q + w f )
err&) = O.S(err(sq)+err(sf ))
Insert edges connecting the new unit s, with s,and sfi and
remove the original edge between sq and sf
11. Perform an adaptation step of the networks parameters
6 = [w,,...,w N . u,,...,u,,] using the delta rule:
118
and err(sf)
?={
w2a+(1-a)w,
WI
if IIx(~)-P.~II<IIP,~
-P,J
if IlJW- K z I 2 HKI- A 2 I
a = IIm-K,II~(IIX(k)-HIII+a~(k)-A*ll)
This structure is called' 'linear DCS" (LDCS), it is
particularly efficient from a computational point of view and,
therefore, rather attractive for real-time implementations.
9. EXAMPLE Mapping of the Look-Up Table of an
0.45
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I
2.5
x 1;
hpm:N.
Out: N7
Neurons: N.
DCS
DCS
MRAN
(Gaur*)
2
1
43
(Liocad
2
(Gauss.)
I
80
122
2w
[IO.-.II~-~ I I O . - . . I ~ - ~
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1 0.990.W5l i 0.99 .MO51
-.
0.1853
0,1858
0.1294
0.1259
A77 7.
A,,**
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EMRAN
(Gam.)
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I I O , L I I ~ -r30.2.11~-3
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References
Neural Network Toolbox Users Guide, October 1998,
The Matworks Inc.
G. Campa, M.L. Fravolini, M.R. Naplilano, B. Seanor,
Neural Networks-Based Sensor Validation for the Right
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Control Conference 2002, May 8-10,2002, AK, USA.
Simulink, Writing S-Funcfions, January 1999, The
Mathworks Inc.
M. Polycarpou, On-Line Approximators for Nonlinear
System Identification: A Unified Approach Control and
Dynamic Systems Series, Volume 7, Neural Network
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M. R. Naplilano, Y. An, B. Seanor, A fault tolerant
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L. Yan, N. Sundarajan, P. Saratchandran, Nonlinear
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Real-time identification of nonlinear dynamic systems,
IEE Proceedings on Control Theory and Applicaiion
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B. Friske,. Growing cell structures: a self-organizing
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[ 1I] C. Jorgensen, Direct Adaptive Aircraft Control Using
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112198, May 1997.
[12]R.W. Brumbaugh, An Aircraft Model for the AIAA
Controls Design Challenge, NASA CR 186019, Dec.
1991
11. Acknowledgement
120