In this study we composed a recurrent neural network learning controller and applied it to the swinging up and stabilization problem of the inverted pendulum. A recurrent neural network was trained by a genetic algorithm which had an internal copy operator or inter-individual copy operator. An appro
Neural control experiments via dynamic neural algorithms
✍ Scribed by J. Fernández De Cañete; A. García-Cerezo; I. García-Moral
- Publisher
- John Wiley and Sons
- Year
- 1999
- Tongue
- English
- Weight
- 336 KB
- Volume
- 13
- Category
- Article
- ISSN
- 0890-6327
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✦ Synopsis
Neural static and dynamic training algorithms have been extensively applied to the control and identi"cation of non-linear dynamic plants. In the present paper an extension of the static Marquardt learning algorithm, termed Dynamic Marquardt algorithm (DMA) is derived for the on-line training of neural networks with feedforward and feedback components. The performance of the method has been demonstrated by the neural control of a highly non-linear experimental #uid level. A stability analysis of the overall control scheme has been carried out using the conicity stability criterion. It has been found that the Dynamic Marquardt algorithm is much more e$cient than Dynamic backpropagation, when the relative size of the net is bounded.
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