期刊
SOFT COMPUTING
卷 23, 期 17, 页码 7769-7803出版社
SPRINGER
DOI: 10.1007/s00500-018-3405-5
关键词
Adaptive controller; MIMO PID-type RK-NN controller; Runge-Kutta EKF; Runge-Kutta identification; Runge-Kutta neural network; Runge-Kutta parameter estimator
In this paper, a novel Runge-Kutta neural network (RK-NN)-based control mechanism is introduced for multi-input multi-output ( MIMO) nonlinear systems. The overall architecture embodies an online Runge-Kutta model which computes a forward model of the system, an adaptive controller with tunable parameters and an adjustment mechanism realized by separate online Runge-Kutta neural networks to identify the dynamics of each tunable controller parameter. Runge-Kutta identification block has the competency to approximate the time-varying parameters of the model and unmeasurable states of the controlled system. Thus, the strengths of radial basis function (RBF) neural network structure and Runge-Kutta integration method are combined in this structure. Adaptive MIMO proportional-integral-derivative (PID) controller is deployed in the controller block. The control performance of the proposed adaptive control method has been evaluated via simulations performed on a nonlinear three-tank system and Van de Vusse benchmark system for different cases, and the obtained results reveal that the RK-NN-based control mechanism and Runge-Kutta model attain good control and modelling performances.
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