Seong Hyeon Hong, Jackson Cornelius, Yi Wang, K. Pant
{"title":"异常预测控制中优化的人工神经网络模型和补偿器","authors":"Seong Hyeon Hong, Jackson Cornelius, Yi Wang, K. Pant","doi":"10.1115/1.4049130","DOIUrl":null,"url":null,"abstract":"\n This paper presents a new artificial neural network (ANN)-based system model that concatenates an optimized artificial neural network (OANN) and a neural network compensator (NNC) in series to capture temporally varying system dynamics caused by slow-paced degradation/anomaly. The OANN comprises a complex, fully connected multilayer perceptron, trained offline using nominal, anomaly free data, and remains unchanged during online operation. Its hyperparameters are selected using genetic algorithm-based meta-optimization. The compact NNC is updated continuously online using collected sensor data to capture the variations in system dynamics, rectify the OANN prediction, and eventually minimize the discrepancy between the OANN-predicted and actual response. The combined OANN–NNC model then reconfigures the model predictive control (MPC) online to alleviate disturbances. Through numerical simulation using an unmanned quadrotor as an example, the proposed model demonstrates salient capabilities to mitigate anomalies introduced to the system while maintaining control performance. We compare the OANN–NNC with other online modeling techniques (adaptive ANN and multinetwork model), showing it outperforms them in reference tracking of altitude control by at least 0.5 m and yaw control by 1 deg. Moreover, its robustness is confirmed by the MPC consistency regardless of anomaly presence, eliminating the need for additional model management during online operation.","PeriodicalId":54846,"journal":{"name":"Journal of Dynamic Systems Measurement and Control-Transactions of the Asme","volume":null,"pages":null},"PeriodicalIF":1.7000,"publicationDate":"2021-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"7","resultStr":"{\"title\":\"Optimized Artificial Neural Network Model and Compensator in Model Predictive Control for Anomaly Mitigation\",\"authors\":\"Seong Hyeon Hong, Jackson Cornelius, Yi Wang, K. Pant\",\"doi\":\"10.1115/1.4049130\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"\\n This paper presents a new artificial neural network (ANN)-based system model that concatenates an optimized artificial neural network (OANN) and a neural network compensator (NNC) in series to capture temporally varying system dynamics caused by slow-paced degradation/anomaly. The OANN comprises a complex, fully connected multilayer perceptron, trained offline using nominal, anomaly free data, and remains unchanged during online operation. Its hyperparameters are selected using genetic algorithm-based meta-optimization. The compact NNC is updated continuously online using collected sensor data to capture the variations in system dynamics, rectify the OANN prediction, and eventually minimize the discrepancy between the OANN-predicted and actual response. The combined OANN–NNC model then reconfigures the model predictive control (MPC) online to alleviate disturbances. Through numerical simulation using an unmanned quadrotor as an example, the proposed model demonstrates salient capabilities to mitigate anomalies introduced to the system while maintaining control performance. We compare the OANN–NNC with other online modeling techniques (adaptive ANN and multinetwork model), showing it outperforms them in reference tracking of altitude control by at least 0.5 m and yaw control by 1 deg. Moreover, its robustness is confirmed by the MPC consistency regardless of anomaly presence, eliminating the need for additional model management during online operation.\",\"PeriodicalId\":54846,\"journal\":{\"name\":\"Journal of Dynamic Systems Measurement and Control-Transactions of the Asme\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":1.7000,\"publicationDate\":\"2021-05-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"7\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Journal of Dynamic Systems Measurement and Control-Transactions of the Asme\",\"FirstCategoryId\":\"94\",\"ListUrlMain\":\"https://doi.org/10.1115/1.4049130\",\"RegionNum\":4,\"RegionCategory\":\"计算机科学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q3\",\"JCRName\":\"AUTOMATION & CONTROL SYSTEMS\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of Dynamic Systems Measurement and Control-Transactions of the Asme","FirstCategoryId":"94","ListUrlMain":"https://doi.org/10.1115/1.4049130","RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
Optimized Artificial Neural Network Model and Compensator in Model Predictive Control for Anomaly Mitigation
This paper presents a new artificial neural network (ANN)-based system model that concatenates an optimized artificial neural network (OANN) and a neural network compensator (NNC) in series to capture temporally varying system dynamics caused by slow-paced degradation/anomaly. The OANN comprises a complex, fully connected multilayer perceptron, trained offline using nominal, anomaly free data, and remains unchanged during online operation. Its hyperparameters are selected using genetic algorithm-based meta-optimization. The compact NNC is updated continuously online using collected sensor data to capture the variations in system dynamics, rectify the OANN prediction, and eventually minimize the discrepancy between the OANN-predicted and actual response. The combined OANN–NNC model then reconfigures the model predictive control (MPC) online to alleviate disturbances. Through numerical simulation using an unmanned quadrotor as an example, the proposed model demonstrates salient capabilities to mitigate anomalies introduced to the system while maintaining control performance. We compare the OANN–NNC with other online modeling techniques (adaptive ANN and multinetwork model), showing it outperforms them in reference tracking of altitude control by at least 0.5 m and yaw control by 1 deg. Moreover, its robustness is confirmed by the MPC consistency regardless of anomaly presence, eliminating the need for additional model management during online operation.
期刊介绍:
The Journal of Dynamic Systems, Measurement, and Control publishes theoretical and applied original papers in the traditional areas implied by its name, as well as papers in interdisciplinary areas. Theoretical papers should present new theoretical developments and knowledge for controls of dynamical systems together with clear engineering motivation for the new theory. New theory or results that are only of mathematical interest without a clear engineering motivation or have a cursory relevance only are discouraged. "Application" is understood to include modeling, simulation of realistic systems, and corroboration of theory with emphasis on demonstrated practicality.