NARX Models Application to Model Based Nonlinear Control
نویسنده
چکیده
The paper discusses the applicability of approximate NARX models of nonlinear dynamic systems to model based nonlinear control. The models might be obtained by a new version of Fourier analysis based neural network. The proposed controller is based on a discrete-time model of the plant. The objective is to incorporate plant modelling and control design into a unified framework where on the one hand a priori knowledge on the plant is exploited, and on the other hand the model is explicitly designed to satisfy the requirements of the control design. The output feedback control structures are proposed and the use of input-output plant models, i.e. models of the NARX type is suggested. The control design method employed are robust with respect to plant uncertainties, modelling errors and external disturbances.
منابع مشابه
Prediction of Above-elbow Motions in Amputees, based on Electromyographic(EMG) Signals, Using Nonlinear Autoregressive Exogenous (NARX) Model
Introduction In order to improve the quality of life of amputees, biomechatronic researchers and biomedical engineers have been trying to use a combination of various techniques to provide suitable rehabilitation systems. Diverse biomedical signals, acquired from a specialized organ or cell system, e.g., the nervous system, are the driving force for the whole system. Electromyography(EMG), as a...
متن کاملThe NARX Model-Based System Identification on Nonlinear, Rotor-Bearing Systems
In practice, it is usually difficult to obtain the physical model of nonlinear, rotor-bearing systems due to uncertain nonlinearities. In order to solve this issue to conduct the analysis and design of nonlinear, rotor-bearing systems, in this study, a data driven NARX (Nonlinear Auto-Regressive with exogenous inputs) model is identified. Due to the lack of the random input signal which is requ...
متن کاملHybrid control of a pneumatic artificial muscle (PAM) robot arm using an inverse NARX fuzzy model
We investigated the possibility of applying a hybrid feed-forward inverse nonlinear auto-regressive with exogenous input (NARX) fuzzy model-PID controller to a nonlinear pneumatic artificial muscle (PAM) robot arm to improve its joint angle position output performance. The proposed hybrid inverse NARX fuzzy-PID controller is implemented to control a PAM robot arm that is subjected to nonlinear ...
متن کاملNeural Network-based Narx Models in Non-linear Adaptive Control
The applicability of approximate NARX models of non-linear dynamic systems is discussed. The models are obtained by a new version of Fourier analysis-based neural network also described in the paper. This constitutes a reformulation of a known method in a recursive manner, i.e. adapted to account for incoming data on-line. The method allows us to obtain an approximate model of the non-linear sy...
متن کاملAn ANOVA Based Analytical Dynamic Matrix Controller Tuning Procedure for FOPDT Models
Dynamic Matrix Control (DMC) is a widely used model predictive controller (MPC) in industrial plants. The successful implementation of DMC in practical applications requires a proper tuning of the controller. The available tuning procedures are mainly based on experience and empirical results. This paper develops an analytical tool for DMC tuning. It is based on the application of Analysis of V...
متن کامل