P型迭代学习控制法在上肢FNS反馈控制中的应用

目的：探讨闭环控制在功能性电刺激中的应用，根据反馈信号来实时调节控制刺激的输出强度。方法：利用Ｐ型迭代学习控制方法，对正常人和偏瘫患者上肢肘关节运动角度分别进行了运动反馈控制研究。结果及结论：迭代学习控制，算法简单，参数易调整，控制量变化平缓，轨迹跟踪精度高。在对正常人和瘫痪患者上肢肘关节的运动控制中，基本能达到预期效果。

变频调速系统离散化迭代学习控制法及应用技术

针对变频调速系统抗负载扰动性能差,在宽范围内调速时,非线性数学模型变化,控制效果变坏。提出用 PLC 做调节器,采用迭代自学习控制方法的转速负反馈闭环系统,逼近期望的轨迹线。给出了具体的软件实现流程框图及程序。

迭代学习控制算法在称重配料系统的应用

在称重配料过程中,工程现场对设备的精度要求通常是非常苛刻的,而在实际操作时,误差来源多种多样,针对这种情况,文章采用迭代学习控制算法来完成对整个称重配料系统的精度控制。首先提出一个提前量,在控制对象的重复运动中,通过学习和记忆机制不断优化控制量,最后达到系统输出逐渐逼近期望输出的目的。

大功率干扰发射机设计方法探讨

随着跳频通信的出现，对功率放大器的响应速度要求变得非常苛刻，信号过冲问题已是不可避免。为了保证设备的可靠性，功率放大器不得不加大降额设计、冗余设计等可靠性设计的力度。这样做的结果是导致功率放大器的效率降低，对供电系统的要求提高，设备成本大增。本文提出一种“学习控制法”来探讨这个问题。

汽车自动变速器换档品质改进的研究

分析了电液控制自动变速器的控制原理 ,研究了影响换档品质的主要因素 ,介绍了新的控制方法———自学习控制法。

Fuzzy adaptive learning control network with sigmoid membership function

To get simpler operation in modified fuzzy adaptive learning control network （FALCON） in some engineering application, sigmoid nonlinear function is employed as a substitute of traditional Gaussian membership function. For making the modified FALCON learning more efficient and stable, a simulated annealing （SA） learning coefficient is introduced into learning algorithm. At first, the basic concepts and main advantages of FALCON were briefly reviewed. Subsequently, the topological structure and nodes operation were illustrated; the gradient-descent learning algorithm with SA learning coefficient was derived; and the distinctions between the archetype and the modification were analyzed. Eventually, the significance and worthiness of the modified FALCON were validated by its application to probability prediction of anode effect in aluminium electrolysis cells.

Data⁃Based Feedback Relearning Algorithm for Robust Control of SGCMG Gimbal Servo System with Multi⁃source Disturbance

Single gimbal control moment gyroscope(SGCMG)with high precision and fast response is an important attitude control system for high precision docking,rapid maneuvering navigation and guidance system in the aerospace field.In this paper,considering the influence of multi-source disturbance,a data-based feedback relearning(FR)algorithm is designed for the robust control of SGCMG gimbal servo system.Based on adaptive dynamic programming and least-square principle,the FR algorithm is used to obtain the servo control strategy by collecting the online operation data of SGCMG system.This is a model-free learning strategy in which no prior knowledge of the SGCMG model is required.Then,combining the reinforcement learning mechanism,the servo control strategy is interacted with system dynamic of SGCMG.The adaptive evaluation and improvement of servo control strategy against the multi-source disturbance are realized.Meanwhile,a data redistribution method based on experience replay is designed to reduce data correlation to improve algorithm stability and data utilization efficiency.Finally,by comparing with other methods on the simulation model of SGCMG,the effectiveness of the proposed servo control strategy is verified.

Applying machine learning for cars’semi-active air suspension under soft and rigid roads

To improve the ride quality and enhance the control efficiency of cars’semi-active air suspensions(SASs)under various surfaces of soft and rigid roads,a machine learning(ML)method is proposed based on the optimized rules of the fuzzy control(FC)method and car dynamic model for application in SASs.The root-mean-square(RMS)acceleration of the driver’s seat and car’s pitch angle are chosen as the objective functions.The results indicate that a soft surface obviously influences a car’s ride quality,particularly when it is traveling at a high-velocity range of over 72 km/h.Using the ML method,the car’s ride quality is improved as compared to those of FC and without control under different simulation conditions.In particular,compared with those cars without control,the RMS acceleration of the driver’s seat and car’s pitch angle using the ML method are respectively reduced by 30.20% and 19.95% on the soft road and 34.36% and 21.66% on the rigid road.In addition,to optimize the ML efficiency,its learning data need to be updated under all various operating conditions of cars.

An LMI Method to Robust Iterative Learning Fault-tolerant Guaranteed Cost Control for Batch Processes

Based on an equivalent two-dimensional Fornasini-Marchsini model for a batch process in industry, a closed-loop robust iterative learning fault-tolerant guaranteed cost control scheme is proposed for batch processes with actuator failures. This paper introduces relevant concepts of the fault-tolerant guaranteed cost control and formulates the robust iterative learning reliable guaranteed cost controller (ILRGCC). A significant advantage is that the proposed ILRGCC design method can be used for on-line optimization against batch-to-batch process uncertainties to realize robust tracking of set-point trajectory in time and batch-to-batch sequences. For the convenience of implementation, only measured output errors of current and previous cycles are used to design a synthetic controller for iterative learning control, consisting of dynamic output feedback plus feed-forward control. The proposed controller can not only guarantee the closed-loop convergency along time and cycle sequences but also satisfy the H∞performance level and a cost function with upper bounds for all admissible uncertainties and any actuator failures. Sufficient conditions for the controller solution are derived in terms of linear matrix inequalities (LMIs), and design procedures, which formulate a convex optimization problem with LMI constraints, are presented. An example of injection molding is given to illustrate the effectiveness and advantages of the ILRGCC design approach.

Iterative Learning Model Predictive Control for a Class of Continuous/Batch Processes

An iterative learning model predictive control （ILMPC） technique is applied to a class of continuous/batch processes. Such processes are characterized by the operations of batch processes generating periodic strong disturbances to the continuous processes and traditional regulatory controllers are unable to eliminate these periodic disturbances. ILMPC integrates the feature of iterative learning control （ILC） handling repetitive signal and the flexibility of model predictive control （MPC）. By on-line monitoring the operation status of batch processes, an event-driven iterative learning algorithm for batch repetitive disturbances is initiated and the soft constraints are adjusted timely as the feasible region is away from the desired operating zone. The results of an industrial application show that the proposed ILMPC method is effective for a class of continuous/batch processes.

Study on Biological Characters of Asparagus macowanii Baker.

Asparagus macowanfi Baker, is a climbing herbaceous foliage species in genus Asparagus of Liliaceae, This paper summarized its multiple uses, morphologi- cal characteristics, biological habit, reproduction methods, management after cultiva- tion, prevention and control of pests and disease, as well as harvest and grading, with the objective to provide references for the exploitation and utilization of As- paragus macowanii Baker.

Opportunities and challenges for developing closed-loop bioelectronic medicines

The peripheral nervous system plays a major role in the maintenance of our physiology. Several peripheral nerves intimately regulate the state of the brain, spinal cord, and visceral systems. A new class of therapeutics, called bioelectronic medicines, are being developed to precisely regulate physiology and treat dysfunction using peripheral nerve stimulation. In this review, we first discuss new work using closed-loop bioelectronic medicine to treat upper limb paralysis. In contrast to open-loop bioelectronic medicines, closed-loop approaches trigger ‘on demand' peripheral nerve stimulation due to a change in function(e.g., during an upper limb movement or a change in cardiopulmonary state). We also outline our perspective on timing rules for closedloop bioelectronic stimulation, interface features for non-invasively stimulating peripheral nerves, and machine learning algorithms to recognize disease events for closed-loop stimulation control. Although there will be several challenges for this emerging field, we look forward to future bioelectronic medicines that can autonomously sense changes in the body, to provide closed-loop peripheral nerve stimulation and treat disease.

A nonlinear combination forecasting method based on the fuzzy inference system

It has been shown in recent economic and statistical studies that combining forecasts may produce more accurate forecasts than individual ones. However, the literature on combining forecasts has almost exclusively focused on linear combining forecasts. In this paper, a new nonlinear combination forecasting method based on fuzzy inference system is present to overcome the difficulties and drawbacks in linear combination modeling of non-stationary time series. Furthermore, the optimization algorithm based on a hierarchical structure of learning automata is used to identify the parameters of the fuzzy system. Experiment results related to numerical examples demonstrate that the new technique has excellent identification performances and forecasting accuracy superior to other existing linear combining forecasts.

Fuzzy iterative learning control of electro-hydraulic servo system for SRM direct-drive volume control hydraulic press

A new kind of volume control hydraulic press that combines the advantages of both hydraulic and SRM(switched reluctance motor) driving technology is developed.Considering that the serious dead zone and time-variant nonlinearity exist in the volume control electro-hydraulic servo system,the ILC(iterative learning control) method is applied to tracking the displacement curve of the hydraulic press slider.In order to improve the convergence speed and precision of ILC,a fuzzy ILC algorithm that utilizes the fuzzy strategy to adaptively adjust the iterative learning gains is put forward.The simulation and experimental researches are carried out to investigate the convergence speed and precision of the fuzzy ILC for hydraulic press slider position tracking.The results show that the fuzzy ILC can raise the iterative learning speed enormously,and realize the tracking control of slider displacement curve with rapid response speed and high control precision.In experiment,the maximum tracking error 0.02 V is achieved through 12 iterations only.

High-Performance of Power System Based upon ANFIS （Adaptive Neuro-Fuzzy Inference System） Controller

The proposed controller incorporates FL （fuzzy logic） algorithm with ANN （artificial neural network）. ANFIS replaces the conventional PI controller, tuning the fuzzy inference system with a hybrid learning algorithm. A tuning method is proposed for training of the neuro-fuzzy controller. The best rule base and the best training algorithm chosen produced high performance in the ANFIS controller. Simulation was done on Matlab Ver. 2010a. A case study was chopper-fed DC motor drive, in continuous and discrete modes. Satisfactory results show the ANFIS controller is able to control dynamic highly-nonlinear systems. Tuning it further improved the results.

Auxiliary error and probability density function based neuro-fuzzy model and its application in batch processes

This paper focuses on resolving the identification problem of a neuro-fuzzy model(NFM) applied in batch processes. A hybrid learning algorithm is introduced to identify the proposed NFM with the idea of auxiliary error model and the identification principle based on the probability density function(PDF). The main contribution is that the NFM parameter updating approach is transformed into the shape control for the PDF of modeling error. More specifically, a virtual adaptive control system is constructed with the aid of the auxiliary error model and then the PDF shape control idea is used to tune NFM parameters so that the PDF of modeling error is controlled to follow a targeted PDF, which is in Gaussian or uniform distribution. Examples are used to validate the applicability of the proposed method and comparisons are made with the minimum mean square error based approaches.

Neural network identification for underwater vehicle motion control system based on hybrid learning algorithm

Based on the structure of Elman and Jordan neural networks, a new dynamic neural network is constructed. The network can remember the past state of the hidden layer and adjust the effect of the past signal to the current value in real-time. And in order to enhance the signal processing capabilities, the feedback of output layer nodes is increased. A hybrid learning algorithm based on genetic algorithm （GA） and error back propagation algorithm （BP） is used to adjust the weight values of the network, which can accelerate the rate of convergence and avoid getting into local optimum. Finally, the improved neural network is utilized to identify underwater vehicle （UV） ＇ s hydrodynamic model, and the simulation results show that the neural network based on hybrid learning algorithm can improve the learning rate of convergence and identification nrecision.

A novel policy iteration based deterministic Q-learning for discrete-time nonlinear systems

In this paper, a novel iterative Q-learning algorithm, called "policy iteration based deterministic Qlearning algorithm", is developed to solve the optimal control problems for discrete-time deterministic nonlinear systems. The idea is to use an iterative adaptive dynamic programming(ADP) technique to construct the iterative control law which optimizes the iterative Q function. When the optimal Q function is obtained, the optimal control law can be achieved by directly minimizing the optimal Q function, where the mathematical model of the system is not necessary. Convergence property is analyzed to show that the iterative Q function is monotonically non-increasing and converges to the solution of the optimality equation. It is also proven that any of the iterative control laws is a stable control law. Neural networks are employed to implement the policy iteration based deterministic Q-learning algorithm, by approximating the iterative Q function and the iterative control law, respectively. Finally, two simulation examples are presented to illustrate the performance of the developed algorithm.