Kinematics Decoupling of Mobile Robot Based on RBF Neural Network and Genetic Algorithm

2009 ◽  
Author(s):  
Wuxin Huang ◽  
Shili Tan ◽  
Xiaowei Feng
Keyword(s):  
Neural Network ◽  
Genetic Algorithm ◽  
Mobile Robot ◽  
Rbf Neural Network

Design of Intelligent Controller for Ship Motion with Input Saturation Based on Optimized Radial Basis Function Neural Network

2020 ◽  
Vol 13 ◽  
Author(s):  
Renqiang Wang ◽  
Qinrong Li ◽  
Shengze Miao ◽  
Keyin Miao ◽  
Hua Deng
Keyword(s):  
Neural Network ◽  
Genetic Algorithm ◽  
Sliding Mode Control ◽  
Intelligent Control ◽  
Control Algorithm ◽  
Sliding Mode ◽  
Rbf Neural Network ◽  
Input Saturation ◽  
Ship Motion ◽  
Mode Control

Abstract: The purpose of this paper was to design an intelligent controller of ship motion based on sliding mode control with a Radial Basis Function (RBF) neural network optimized by the genetic algorithm and expansion observer. First, the improved genetic algorithm based on the distributed genetic algorithm with adaptive fitness and adaptive mutation was used to automatically optimize the RBF neural network. Then, with the compensation designed by the RBF neural network, anti-saturation control was realized. Additionally, the intelligent control algorithm was introduced by Sliding Mode Control (SMC) with the stability theory. A comparative study of sliding mode control integrated with the RBF neural network and proportional–integral–derivative control combined with the fuzzy optimization model showed that the stabilization time of the intelligent control system was 43.75% faster and the average overshoot was reduced by 52% compared with the previous two attempts. Background: It was known that the Proportional-Integral-Derivative (PID) control and self-adaptation control cannot really solve the problems of frequent disturbance from external wind and waves, as well as the problems with ship nonlinearity and input saturation. So, the previous ship motion controller should be transformed by advanced intelligent technology, on the basis of referring to the latest relevant patent design methods. Objective: An intelligent controller of ship motion was designed based on optimized Radial Basis Function Neural Network (RBFNN) in the presence of non-linearity, uncertainty, and limited input. Methods: The previous ship motion controller was remodeled based on Sliding Mode Control (SMC) with RBFNN optimized by improved genetic algorithm and expansion observer. The intelligent control algorithm integrated with genetic neural network solved the problem of system model uncertainty, limited control input, and external interference. Distributed genetic with adaptive fitness and adaptive mutation method guaranteed the adequacy of search and the global optimal convergence results, which enhanced the approximation ability of RBFNN. With the compensation designed by the optimized RBFNN, it was realized anti-saturation control. The chattering caused by external disturbance in SMC controller was reduced by the expansion observer. Results: A comparative study with RBFNN-SMC control and fuzzy-PID control, the stabilization time of the intelligent control system was 43.75% faster, the average overshoot was reduced by 52%, compared to the previous two attempts. Conclusion: The intelligent control algorithm succeed in dealing with the problems of nonlinearity, uncertainty, input saturation, and external interference. The intelligent control algorithm can be applied into research and development ship steering system, which would be created a new patent.

An Improved Prediction Method of SOC Based on the GA-RBF Neural Network

2014 ◽  
Vol 953-954 ◽  
pp. 800-805 ◽  
Author(s):  
Meng Di Liang ◽  
Tie Zhou Wu
Keyword(s):  
Neural Network ◽  
Genetic Algorithm ◽  
Radial Basis Function ◽  
Basis Function ◽  
Rbf Neural Network ◽  
Prediction Method ◽  
Charged State ◽  
Improved Genetic Algorithm ◽  
State Prediction ◽  
Radial Basis

Concerning the prediction problems’accuracy of the state-of-charge(SOC) of the battery，this paper proposes a prediction method based on an improved genetic algorithm-radial basis function neural network for power battery charged state. The prediction method, based on intensity of information interaction and neural activity, adjusts the size of the neural network online and solves the problem that radial basis function neural network structure adjustment influences the accuracy of charged state prediction. The simulation results show that，compared with the method of radial basis function neural network based on genetic algorithm , the accuracy of charged state prediction is more stable and more precise.

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