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ID:38276011
大小:225.83 KB
页数:6页
时间:2019-05-25
《NN-Based Iterative Learning Control Under Resource Constraints A Feedback Scheduling Approach》由会员上传分享,免费在线阅读,更多相关内容在行业资料-天天文库。
1、NN-BasedIterativeLearningControlUnderResourceConstraints:AFeedbackSchedulingApproachFengXiaandYouxianSunNationalLaboratoryofIndustrialControlTechnology,InstituteofModernControlEngineeringZhejiangUniversity,Hangzhou310027,China{xia,yxsun}@iipc.zju.edu.cnAbstract.Theproble
2、mofneuralnetworkbasediterativelearningcontrol(NNILC)inaresource-constrainedenvironmentwithworkloaduncertaintyisexaminedfromthereal-timeimplementationperspective.Thankstotheitera-tivenatureoftheNNILCalgorithm,itispossibletoaborttheoptimizationrou-tinebeforeitreachestheopt
3、imum.Takingintoaccounttheimpactofresourceconstraints,afeedbackschedulingapproachissuggested,withtheprimarygoalofmaximizethecontrolperformance.TheexecutiontimeoftheNNILCtaskisdynamicallyadjustedtoachieveadesiredCPUutilizationlevel.ThusatradeoffisdonebetweentheavailableCPU
4、timeandthecontrolperformance.Forthesakeofeasyimplementation,apracticalsolutionwithadynamiciterationstopcriterionisproposed.PreliminarysimulationresultsarguethattheproposedapproachisefficientanddeliversbetterperformanceinthefaceofworkloadvariationsthanthetraditionalNNILCa
5、lgorithm.1IntroductionNeuralnetworkbasediterativelearningcontrol(NNILC)hasattractedsignificantattentioninmanycontrolapplicationsthankstothesuccessfulcombinationofneuralnetworksanditerativelearningcontrol.Asperfectnonlinearfunctionapproximators,neuralnetworkshavegoodpoten
6、tialforidentificationandcontrolapplications.Manyworks[1-4]arguethatILCbasedonneuralnetworksdeliverswonderfulperformancee.g.fornonlinearsystemtrajectorytracking.However,littlehasbeendonetodevelopefficientreal-timeimplementationsofNNILC.Thecontrolcommunitygenerallyassumest
7、hatthereal-timeplatformusedtoimplementthecontrolalgorithmscanprovidedeterministictimingbehaviors(e.g.constantexecutiontime)andsufficientcomputingresources(CPUtime)asneeded.Itisquiteclearthatthisisnotalwaysthetruth,especiallyinanembeddedcontrolsystemthatfeaturesresourceco
8、nstraintsandworkloaduncertainty[5].ItiswellknownthatNNILCsearchesan“optimal”controlinputbasedoniteratio
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