带未知时变噪声系统的卡尔曼滤波算法研究

mytomorrow

Neural Network Inverse Adaptive Controller Based or，Davidon Least Square*

Chen Zengqiang, Lu Zhao & Yuan Zhtuzhi

Department of Computer & System Science, Nankai Univeraity, Tianjin, 300071, P. R. China

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(Received September 20, 1999)

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. j) M% j- ^6 ^5 e6 \+ mAbstract: General neural network inverse adaptive controller haw two flaws: the first i the slow convergence speed; the second is the invalidation to the non-minimum phase mystem. Tbese defects limit the scope in which the neural network inverse adaptive controller is used. We employ Davidon least squares in training the multi-layer feedforward neural network used in approximating the invense model of plant to expedite the convergence, and then through constructing the pseudo-plant, a neural network inverse adaptive controller泅put forward which is stil efective to the nonlinear non-minimum phase system. The simulation reoults show the validity of this scheme.

8 `$ k. q9 G' j2 U# hKeywords: Neural network, Adaptive control, Davidon least squarea, Inverse control.

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带未知时变噪声系统的卡尔曼滤波算法研究