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Controller Scheduling Using Neural Networks: Implementation and Experimental Results

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Hybrid Systems V (HS 1997)

Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 1567))

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Abstract

This paper presents the results of simulation and control experiments using a recently proposed method for real-time switching among a pool of controllers. The switching strategy selects the current controller based on neural network estimates of the future system performance for each controller. This neural-network-based switching controller has been implemented for a simulated inverted pendulum and a level control system for an underwater vehicle in our laboratory. The objectives of the experiments presented here are to demonstrate the feasibility of this approach to switching control for real systems and to identify techniques to deal with practical issues that arise in the training of the neural networks and the real-time switching behavior of the system. This experimental work complements on-going theoretical investigations of the method which will be reported elsewhere.

Research supported by a CONICYT-IBD grant from the government of Uruguay, and the Organization of American States under grant F44395.

Research supported by DARPA under contract F33615-97-C-1012.

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Author information

Authors and Affiliations

  1. Department of Electrical and Computer Engineering, Carnegie Mellon University, 5000 Forbes Av., Pittsburgh, PA, 15213-3890, USA

    Enrique D. Ferreira & Bruce H. Krogh

Authors
  1. Enrique D. Ferreira
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  2. Bruce H. Krogh
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Editor information

Editors and Affiliations

  1. Department of Electrical Engineering, University of Notre Dame, Notre Dame, IN, 46556, USA

    Panos Antsaklis  & Michael Lemmon  & 

  2. Hynomics Corporation, 10632 NE 37th Circle, Building 23, Kirkland, WA, 98033, USA

    Wolf Kohn

  3. Department of Mathematics, Cornell University, 217, White Hall, Ithaca, NY, 14853, USA

    Anil Nerode

  4. Electronic Research Laboratory, University of California at Berkeley, 253 Cory Hall, Berkeley, CA, 94720, USA

    Shankar Sastry

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© 1999 Springer-Verlag Berlin Heidelberg

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Ferreira, E.D., Krogh, B.H. (1999). Controller Scheduling Using Neural Networks: Implementation and Experimental Results. In: Antsaklis, P., Lemmon, M., Kohn, W., Nerode, A., Sastry, S. (eds) Hybrid Systems V. HS 1997. Lecture Notes in Computer Science, vol 1567. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-49163-5_5

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  • DOI: https://doi.org/10.1007/3-540-49163-5_5

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-65643-2

  • Online ISBN: 978-3-540-49163-7

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