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In this work, an adaptive neural network (NN) optimized output-feedback control problem is studied for a class of stochastic nonlinear systems with unknown nonlinear dynamics, input saturation, and state constraints. A nonlinear state observer is designed to estimate the unmeasured states, and the NNs are used to approximate the unknown nonlinear functions. Under the framework of the backstepping technique, the virtual and actual optimal controllers are developed by employing the actor–critic architecture. Meanwhile, the tan-type Barrier optimal performance index functions are developed to prevent the nonlinear systems from the state constraints, and all the states are confined within the preselected compact sets all the time. It is worth mentioning that the proposed optimized control is clearly simple since the reinforcement learning (RL) algorithm is derived based on the negative gradient of a simple positive function. Furthermore, the proposed optimal control strategy ensures that all the signals in the closed-loop system are bounded. Finally, a practical simulation example is carried out to further illustrate the effectiveness of the proposed optimal control method. [ABSTRACT FROM AUTHOR]

Iterative learning control (ILC) can synthesize the feedforward control signal for the trajectory tracking control of a repetitive task, even when the system has strong nonlinear dynamics. This makes ILC be one of the most popular methods for trajectory tracking control. Restriction on a repetitive task, however, limits its application to multiple trajectories. This article proposes a neural-network-based ILC (NN-ILC) to deal with nonrepetitive tasks very effectively. A position-based ILC is designed to compensate the tracking error, based on which the multiple outputs of the ILC (ILC outputs) for multiple tasks are expressed as a function of the reference position, velocity, and acceleration. The proposed NN-ILC divides the ILC outputs of multiple tasks into two parts: the linear and nonlinear portions. The first part is expressed by a linear function, which is the linear portion of the function of the ILC outputs. The second part is expressed by a nonlinear function, which is estimated by complementary neural networks including a general neural network and a switching neural network. Finally, the two parts are combined and the ILC outputs of multiple tasks are expressed as a neural-network-based function. Two advantages of the proposed NN-ILC are emphasized. First, the ILC outputs of multiple tasks are compressed into a function by the proposed method, and thus, the memories can be saved. Second, in terms of generalizability, the neural-network-based function of the ILC outputs can easily predict position compensation for multiple tasks without extra iterative learning processes. Experimental results on a robot arm show that the proposed NN-ILC method can easily realize the ILC of multiple tasks. It can save memory comparing with the method of storing the data of multiple tasks and can predict the ILC output of any task, which can accelerate the iterative learning process. [ABSTRACT FROM AUTHOR]

In this article, an adaptive neural network (NN) decentralized output-feedback control design is studied for the uncertain strict-feedback large-scale interconnected nonlinear systems with nonconstant virtual and control gains. NNs are utilized to approximate the unknown nonlinear functions, and the immeasurable states are estimated via designing an NN decentralized state observer. By constructing the logarithm Lyapunov functions, an observer-based NN adaptive decentralized backstepping output-feedback control is developed in the framework of the decentralized backstepping control. The proposed adaptive decentralized backstepping output-feedback control can make that the closed-loop system is semiglobally uniformly ultimately bounded (SGUUB) and that the tracking and observer errors converge to a small neighborhood of the origin. The most important contribution of this article is that it removes the restrictive assumption in the existing results that both virtual and control gain functions in each subsystem must be constants. A numerical simulation example is provided to validate the effectiveness of the proposed control method and theory. [ABSTRACT FROM AUTHOR]

The ability of artificial neural networks (ANNs) to adapt to input data and perform generalizations is intimately connected to the use of nonlinear activation and propagation functions. Quantum versions of ANN have been proposed to take advantage of the possible supremacy of quantum over classical computing. To date, all proposals faced the difficulty of implementing nonlinear activation functions since quantum operators are linear. This brief presents an architecture to simulate the computation of an arbitrary nonlinear function as a quantum circuit. This computation is performed on the phase of an adequately designed quantum state, and quantum phase estimation recovers the result, given a fixed precision, in a circuit with linear complexity in function of ANN input size. [ABSTRACT FROM AUTHOR]

In networked control systems (NCS), a certain class of attacks on the communication network is known to raise traffic flows causing delays and packet losses to increase. This paper presents a novel neural network (NN)-based attack detection and estimation scheme that captures the abnormal traffic flow due to a class of attacks on the communication links within the feedback loop of an NCS. By modeling the unknown network flow as a nonlinear function at the bottleneck node and using a NN observer, the network attack detection residual is defined and utilized to determine the onset of an attack in the communication network when the residual exceeds a predefined threshold. Upon detection, another NN is used to estimate the flow injected by the attack. For the physical system, we develop an attack detection scheme by using an adaptive dynamic programming-based optimal event-triggered NN controller in the presence of network delays and packet losses. Attacks on the network as well as on the sensors of the physical system can be detected and estimated with the proposed scheme. The simulation results confirm theoretical conclusions. [ABSTRACT FROM AUTHOR]

This paper presents adaptive neural tracking control of underactuated surface vessels with modeling uncertainties and time-varying external disturbances, where the tracking errors consisting of position and orientation errors are required to keep inside their predefined feasible regions in which the controller singularity problem does not happen. To provide the preselected specifications on the transient and steady-state performances of the tracking errors, the boundary functions of the predefined regions are taken as exponentially decaying functions of time. The unknown external disturbances are estimated by disturbance observers and then are compensated in the feedforward control loop to improve the robustness against the disturbances. Based on the dynamic surface control technique, backstepping procedure, logarithmic barrier functions, and control Lyapunov synthesis, singularity-free controllers are presented to guarantee the satisfaction of predefined performance requirements. In addition to the nominal case when the accurate model of a marine vessel is known a priori, the modeling uncertainties in the form of unknown nonlinear functions are also discussed. Adaptive neural control with the compensations of modeling uncertainties and external disturbances is developed to achieve the boundedness of the signals in the closed-loop system with guaranteed transient and steady-state tracking performances. Simulation results show the performance of the vessel control systems. [ABSTRACT FROM AUTHOR]

In this paper, the problem of adaptive neural state-feedback tracking control is considered for a class of stochastic nonstrict-feedback nonlinear switched systems with completely unknown nonlinearities. In the design procedure, the universal approximation capability of radial basis function neural networks is used for identifying the unknown compounded nonlinear functions, and a variable separation technique is employed to overcome the design difficulty caused by the nonstrict-feedback structure. The most outstanding novelty of this paper is that individual Lyapunov function of each subsystem is constructed by flexibly adopting the upper and lower bounds of the control gain functions of each subsystem. Furthermore, by combining the average dwell-time scheme and the adaptive backstepping design, a valid adaptive neural state-feedback controller design algorithm is presented such that all the signals of the switched closed-loop system are in probability semiglobally uniformly ultimately bounded, and the tracking error eventually converges to a small neighborhood of the origin in probability. Finally, the availability of the developed control scheme is verified by two simulation examples. [ABSTRACT FROM AUTHOR]

This paper addresses the design of a normalized convergent learning law for neural networks (NNs) with continuous dynamics. The NN is used here to obtain a nonparametric model for uncertain systems described by a set of ordinary differential equations. The source of uncertainties is the presence of some external perturbations and poor knowledge of the nonlinear function describing the system dynamics. A new adaptive algorithm based on normalized algorithms was used to adjust the weights of the NN. The adaptive algorithm was derived by means of a nonstandard logarithmic Lyapunov function (LLF). Two identifiers were designed using two variations of LLFs leading to a normalized learning law for the first identifier and a variable gain normalized learning law. In the case of the second identifier, the inclusion of normalized learning laws yields to reduce the size of the convergence region obtained as solution of the practical stability analysis. On the other hand, the velocity of convergence for the learning laws depends on the norm of errors in inverse form. This fact avoids the peaking transient behavior in the time evolution of weights that accelerates the convergence of identification error. A numerical example demonstrates the improvements achieved by the algorithm introduced in this paper compared with classical schemes with no-normalized continuous learning methods. A comparison of the identification performance achieved by the no-normalized identifier and the ones developed in this paper shows the benefits of the learning law proposed in this paper. [ABSTRACT FROM AUTHOR]

In this paper, a new method for constructing decision trees for stream data is proposed. First a new splitting criterion based on the misclassification error is derived. A theorem is proven showing that the best attribute computed in considered node according to the available data sample is the same, with some high probability, as the attribute derived from the whole infinite data stream. Next this result is combined with the splitting criterion based on the Gini index. It is shown that such combination provides the highest accuracy among all studied algorithms. [ABSTRACT FROM PUBLISHER]

This brief considers the problem of neural networks (NNs)-based adaptive dynamic surface control (DSC) for permanent magnet synchronous motors (PMSMs) with parameter uncertainties and load torque disturbance. First, NNs are used to approximate the unknown and nonlinear functions of PMSM drive system and a novel adaptive DSC is constructed to avoid the explosion of complexity in the backstepping design. Next, under the proposed adaptive neural DSC, the number of adaptive parameters required is reduced to only one, and the designed neural controllers structure is much simpler than some existing results in literature, which can guarantee that the tracking error converges to a small neighborhood of the origin. Then, simulations are given to illustrate the effectiveness and potential of the new design technique. [ABSTRACT FROM AUTHOR]

In this paper, we generalize the bipolar recurrent correlation neural networks (RCNNs) of Chiueh and Goodman for patterns whose components are in the complex unit circle. The novel networks, referred to as complex-valued RCNNs (CV-RCNNs), are characterized by a possible nonlinear function, which is applied on the real part of the scalar product of the current state and the original patterns. We show that the CV-RCNNs always converge to a stationary state. Thus, they have potential application as associative memories. In this context, we provide sufficient conditions for the retrieval of a memorized vector. Furthermore, computational experiments concerning the reconstruction of corrupted grayscale images reveal that certain CV-RCNNs exhibit an excellent noise tolerance. [ABSTRACT FROM AUTHOR]