Nonlinear Decoupling PID Control Using Neural Networks and Multiple Models

For a class of complex industrial processes with strong nonlinearity, serious coupling and uncertainty, a nonlinear decoupling proportional-integral-differential （PID） controller is proposed, which consists of a traditional PID controller, a decoupling compensator and a feedforward compensator for the unmodeled dynamics. The parameters of such controller is selected based on the generalized minimum variance control law. The unmodeled dynamics is estimated and compensated by neural networks, a switching mechanism is introduced to improve tracking performance, then a nonlinear decoupling PID control algorithm is proposed. All signals in such switching system are globally bounded and the tracking error is convergent. Simulations show effectiveness of the algorithm.

Intelligent control using multiple models based on on-line learning

In this paper we deal with the problem of plants with large parameter variations under different operating modes. A novel intelligent control algorithm based on multiple models is proposed to improve the dynamical response performance. At the same time adaptive model bank is applied to establish models without prior system information. Multiple models and corresponding controllers are automatically established on-line by a conventionally adaptive model and a re-initialized one. A best controller is chosen by the performance function at every instant. The closed-loop system＇s stability and asymptotical convergence of tracking error can be guaranteed. Simulation results have confirmed the validity of the proposed method.

Control design approaches for nonlinear systems using multiple models

It is difficult to realize control for some complex nonlinear systems operated in different operating regions. Based on developing local models for different operating regions of the process, a novel algorithm using multiple models is proposed. It utilizes dynamic model bank to establish multiple local models, and their membership functions are defined according to respective regions. Then the nonlinear system is approximated to a weighted combination of the local models. The stability of the nonlinear system is proven. Finally, simulations are given to demonstrate the validity of the proposed method.

Adaptive switching control of a class of nonlinear systems based on mixed multiple models

The transient behaviors of traditional adaptive control may be very poor in general. A practically feasible approach to improve the transient performances is the adoption of adaptive switc- hing control. For a typical class of nonlinear systems disturbed by random noises, mixed multiple models consisting of adaptive model and fixed models were considered to design the switching con- trol law. Under certain assumptions, the nonlinear system with the switching control law was proved rigorously to be stable and optimal A simulation example was provided to compare the performance of the switching control and the traditional adaptive control.

Multiple models adaptive feedforward decoupling controller

When the parameters of the system change abruptly, a new multivariable adaptive feedforward decoupling controller using multiple models is presented to improve the transient response. The system models are composed of multiple fixed models, one free-running adaptive model and one re-initialized adaptive model. The fixed models are used to provide initial control to the process. The re-initialized adaptive model can be reinitialized as the selected model to improve the adaptation speed. The free-running adaptive controller is added to guarantee the overall system stability. At each instant, the best system model is selected according to the switching index and the corresponding controller is designed. During the controller design, the interaction is viewed as the measurable disturbance and eliminated by the choice of the weighting polynomial matrix. It not only eliminates the steady-state error but also decouples the system dynamically. The gtobel convergence is obtained and several simulation examples are presented to illustrate the effectiveness of the proposed controller.

Inclusive Multiple Models(IMM)for predicting groundwater levels and treating heterogeneity

An explicit model management framework is introduced for predictive Groundwater Levels(GWL),particularly suitable to Observation Wells(OWs)with sparse and possibly heterogeneous data.The framework implements Multiple Models(MM)under the architecture of organising them at levels,as follows:(i)Level 0:treat heterogeneity in the data,e.g.Self-Organised Mapping(SOM)to classify the OWs;and decide on model structure,e.g.formulate a grey box model to predict GWLs.(ii)Level 1:construct MMs,e.g.two Fuzzy Logic(FL)and one Neurofuzzy(NF)models.(iii)Level 2:formulate strategies to combine the MM at Level 1,for which the paper uses Artificial Neural Networks(Strategy 1)and simple averaging(Strategy 2).Whilst the above model management strategy is novel,a critical view is presented,according to which modelling practices are:Inclusive Multiple Modelling(IMM)practices contrasted with existing practices,branded by the paper as Exclusionary Multiple Modelling(EMM).Scientific thinking over IMMs is captured as a framework with four dimensions:Model Reuse(MR),Hierarchical Recursion(HR),Elastic Learning Environment(ELE)and Goal Orientation(GO)and these together make the acronym of RHEO.Therefore,IMM-RHEO is piloted in the aquifer of Tabriz Plain with sparse and possibly heterogeneous data.The results provide some evidence that(i)IMM at two levels improves on the accuracy of individual models;and(ii)model combinations in IMM practices bring‘model-learning’into fashion for learning with the goal to explain baseline conditions and impacts of subsequent management changes.

Adaptive switching control of discrete time nonlinear systems based on multiple models

We use the approach of “optimal” switching to design the adaptive control because the design among multiple models is intuitively more practically feasible than the traditional adaptive control in improving the performances. We prove that for a typical class of nonlinear systems disturbed by random noise, the multiple model adaptive switching control based on WLS (Weighted Least Squares) or projected-LS (Least Squares) is stable and convergent.

Multiple model PHD filter for tracking sharply maneuvering targets using recursive RANSAC based adaptive birth estimation

An algorithm to track multiple sharply maneuvering targets without prior knowledge about new target birth is proposed. These targets are capable of achieving sharp maneuvers within a short period of time, such as drones and agile missiles.The probability hypothesis density (PHD) filter, which propagates only the first-order statistical moment of the full target posterior, has been shown to be a computationally efficient solution to multitarget tracking problems. However, the standard PHD filter operates on the single dynamic model and requires prior information about target birth distribution, which leads to many limitations in terms of practical applications. In this paper,we introduce a nonzero mean, white noise turn rate dynamic model and generalize jump Markov systems to multitarget case to accommodate sharply maneuvering dynamics. Moreover, to adaptively estimate newborn targets’information, a measurement-driven method based on the recursive random sampling consensus (RANSAC) algorithm is proposed. Simulation results demonstrate that the proposed method achieves significant improvement in tracking multiple sharply maneuvering targets with adaptive birth estimation.

Multivariable direct adaptive decoupling controller using multiple models and a case study

In this paper, a multivariable direct adaptive controller using multiple models without minimum phase assumption is presented to improve the transient response when the parameters of the system jump abruptly. The controller is composed of multiple fixed controller models, a free-running adaptive con- troller model and a re-initialized adaptive controller model. The fixed controller models are derived from the corresponding fixed system models directly. The adaptive controller models adopt the direct adaptive algorithm to reduce the design calculation. At every instant, the optimal controller is chosen out according to the switching index. The interaction of the system is viewed as the measured distur- bance which is eliminated by the choice of the weighing polynomial matrix. The global convergence is obtained. Finally, several simulation examples in a wind tunnel experiment are given to show both effectiveness and practicality of the proposed method. The significance of the proposed method is that it is applicable to a non-minimum phase system, adopting direct adaptive algorithm to overcome the singularity problem during the matrix calculation and realizing decoupling control for a multivariable system.

A Sliding Mode Observer for Uncertain Nonlinear Systems Based on Multiple Models Approach

This paper presents a method of state estimation for uncertain nonlinear systems described by multiple models approach. The uncertainties, supposed as norm bounded type, are caused by some parameters＇ variations of the nonlinear system. Linear matri~ inequalities （LMIs） have been established in order to ensure the stability conditions of the multiple observer which lead to determine the estimation gains. A sliding mode gain has been added in order to compensate the uncertainties. Numerical simulations through a state space model of a real process have been realized to show the robustness of the synthesized observer.

Adaptive control of a class of nonlinear time-varying systems with multiple models

The adaptive control of nonlinear systems that are linear in the unknown but time-varying parameters are treated in this paper. Since satisfactory transient performance is an important factor, multiple models are required as these parameters change abruptly in the parameter space. In this paper we consider both the multiple models with switching and tuning methodology as well as multiple models with second level adaptation for this class of systems. We demonstrate that the latter approach is better than the former.

3D Human Motion Tracking by Using Interactive Multiple Models

Of different model-based methods in vision based human tracking,many state of the art works focus on the stochastic optimization method to search in a very high dimensional space and try to find the optimal solution according to a proper likelihood function.Seldom works perform a framework of interactive multiple models (IMM) to track a human for challenging problems,such as uncertainty of motion styles,imprecise detection of feature points and ambiguity of joint location.This paper presents a two-layer filter framework based on IMM to track human motion.First,a method of model based points location is proposed to detect key feature points automatically and the filter in the first layer is performed to estimate the undetected points.Second,multiple models of motion are learned by the prior motion data with ridge regression and the IMM algorithm is used to estimate the quaternion vectors of joints rotation.Finally,experiments using real images sequences,simulation videos and 3D voxel data demonstrate that this human tracking framework is efficient.

Introducing robustness in model predictive control with multiple models and switching

Model predictive control is model-based. Therefore, the procedure is inherently not robust to modelling uncertainties. Further, a crucial design parameter is the prediction horizon. Only offline procedures to estimate an upper bound of the optimal value of this parameter are available. These procedures are computationally intensive and model-based. Besides, a single choice of this horizon is perhaps not the best option at all time instants. This is especially true when the control objective is to track desired trajectories. In this paper, we resolve the issue by a time-varying horizon achieved by switching between multiple model-predictive controllers. The stability of the overall system is discussed. In addition, an introduction of multiple models to handle modelling uncertainties makes the overall system robust. The improvement in performance is demonstrated through several examples.

Multiple Models Direct Adaptive Controller for a Stochastic Non-minimum Phase System

For a stochastic non-minimum phase multivariable system,a multiple models direct adaptive controller is presented.It is composed of multiple fixed models with two adaptive models.The fixed models are used to cover the region where the system parameters jump and improve the transient response,while another two adaptive models are used to guarantee the stability.Utilizing generalized minimum variance design method,it adopts the stochastic system estimation algorithm with optimal controller design method to identify the controller parameter directly.Finally,the global convergence is given.The simulation proves the effectives of the controller proposed.

Predicting the growth performance of growing-finishing pigs based on net energy and digestible lysine intake using multiple regression and artificial neural networks models

Backgrounds:Evaluating the growth performance of pigs in real-time is laborious and expensive,thus mathematical models based on easily accessible variables are developed.Multiple regression(MR)is the most widely used tool to build prediction models in swine nutrition,while the artificial neural networks(ANN)model is reported to be more accurate than MR model in prediction performance.Therefore,the potential of ANN models in predicting the growth performance of pigs was evaluated and compared with MR models in this study.Results:Body weight(BW),net energy(NE)intake,standardized ileal digestible lysine(SID Lys)intake,and their quadratic terms were selected as input variables to predict ADG and F/G among 10 candidate variables.In the training phase,MR models showed high accuracy in both ADG and F/G prediction(R^(2)_(ADG)=0.929,R^(2)_(F/G)=0.886)while ANN models with 4,6 neurons and radial basis activation function yielded the best performance in ADG and F/G prediction(R^(2)_(ADG)=0.964,R^(2)_(F/G)=0.932).In the testing phase,these ANN models showed better accuracy in ADG prediction(CCC:0.976 vs.0.861,R^(2):0.951 vs.0.584),and F/G prediction(CCC:0.952 vs.0.900,R^(2):0.905 vs.0.821)compared with the MR models.Meanwhile,the“over-fitting”occurred in MR models but not in ANN models.On validation data from the animal trial,ANN models exhibited superiority over MR models in both ADG and F/G prediction(P<0.01).Moreover,the growth stages have a significant effect on the prediction accuracy of the models.Conclusion:Body weight,NE intake and SID Lys intake can be used as input variables to predict the growth performance of growing-finishing pigs,with trained ANN models are more flexible and accurate than MR models.Therefore,it is promising to use ANN models in related swine nutrition studies in the future.

Multiple Measurement Models of Articulated Arm Coordinate Measuring Machines

The existing articulated arm coordinate measuring machines（AACMM） with one measurement model are easy to cause low measurement accuracy because the whole sampling space is much bigger than the result in the unstable calibration parameters. To compensate for the deficiency of one measurement model, the multiple measurement models are built by the Denavit-Hartenberg＇s notation, the homemade standard rod components are used as a calibration tool and the Levenberg-Marquardt calibration algorithm is applied to solve the structural parameters in the measurement models. During the tests of multiple measurement models, the sample areas are selected in two situations. It is found that the measurement errors＇ sigma value（0.083 4 ram） dealt with one measurement model is nearly two times larger than that of the multiple measurement models（0.043 1 ram） in the same sample area. While in the different sample area, the measurement errors＇ sigma value（0.054 0 ram） dealt with the multiple measurement models is about 40% of one measurement model（0.137 3 mm）. The preliminary results suggest that the measurement accuracy of AACMM dealt with multiple measurement models is superior to the accuracy of the existing machine with one measurement model. This paper proposes the multiple measurement models to improve the measurement accuracy of AACMM without increasing any hardware cost.

Development of multiple soft computing models for estimating organic and inorganic constituents in coal

The distribution of the various organic and inorganic constituents and their influences on the combustion of coal has been comprehensively studied.However,the combustion characteristics of pulverized coal depend not only on rank but also on the composition,distribution,and combination of the macerals.Unlike the proximate and ultimate analyses,determining the macerals in coal involves the use of sophisticated microscopic instrumentation and expertise.In this study,an attempt was made to predict the amount of macerals(vitrinite,inertinite,and liptinite)and total mineral matter from the Witbank Coalfields samples using the multiple input single output white-box artificial neural network(MISOWB-ANN),gene expression programming(GEP),multiple linear regression(MLR),and multiple nonlinear regression(MNLR).The predictive models obtained from the multiple soft computing models adopted are contrasted with one another using difference,efficiency,and composite statistical indicators to examine the appropriateness of the models.The MISOWB-ANN provides a more reliable predictive model than the other three models with the lowest difference and highest efficiency and composite statistical indicators.

STOCHASTIC ADAPTIVE SWITCHING CONTROL BASED ON MULTIPLE MODELS

It is well known that the transient behaviors of the traditional adaptive control may be very poor in general, and that the adaptive control designed based on switching between multiple models is an intuitively appealing and practically feasible approach to improve the transient performances. In this paper, we shall prove that for a typical class of linear systems disturbed by random noises, the multiple model based least-squares(LS) adaptive switching control is stable and convergent, and has the same convergence rate as that established for the standard least-squares-based self-tunning regulators. Moreover, the mixed case combining adaptive models with fixed models is also considered.

Optimization Design of High-speed Interior Permanent Magnet Motor with High Torque Performance Based on Multiple Surrogate Models

In order to obtain better torque performance of high-speed interior permanent magnet motor(HSIPMM) and solve the problem that electromagnetic optimization design is seriously limited by its mechanical strength, a complete optimization design method is proposed in this paper. The object of optimization design is a 15 kW、20000 r/min HSIPMM whose permanent magnets in rotor is segmented. Eight structural dimensions are selected as its optimization variables. After design of experiment(DOE), multiple surrogate models are fitted, a set of surrogate models with minimum error is selected by using error evaluation indexes to optimize, the NSGA-II algorithm is used to get the optimal solution. The optimal solution is verified by load test on a 15 kW, 20000 r/min HSIPMM prototype. This paper can be used as a reference for the optimization design of HSIPMM.

Evaluation of Productive Plant Landscapes in Cold Regions Based on a Multiple Cropping Model

Four varieties of each rapeseed and buckwheat were planted in different sowing periods to explore a variety of planting patterns.A theoretical foundation was provided for the innovative application of cold region productive plant landscapes.The analytic hierarchy process was employed to develop a model for the evaluation of multiple cropping systems.A comprehensive evaluation was conducted to study 10 indicators in plant type,flower color,flowering period,flower volume,branch coverage,plot average yield,number of grains per plant,yield per plant,thousand-grain quality and ecological adaptability in four different varieties of each rapeseed and buckwheat.The results indicated that flower color,ecological adaptability,plot average yield and flower volume were the most important indicators for the value of productive plant landscapes in cold regions.Concerning the sowing period,the optimal combination of varieties and planting times were March 31 for Qingza No.5(rapeseed)and July 18 for Xinong T1211(buckwheat).