Enhance computational efficiency of neural network predictive control using PSO with controllable random exploration velocity

Xin Chen, Yangmin Li

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

3 Citations (Scopus)

Abstract

NNPC has been used widely to control nonlinear systems. However traditional gradient decent algorithm (GDA) needs a large computational cost, so that NNPC is not acceptable for systems with rapid dynamics. To apply NNPC in fast control of mobile robots, the paper proposes an improved optimization technique, particle swarm optimization with controllable random exploration velocity (PSO-CREV), to replace of GDA in NNPC. Therefore for one cycle of control, PSO-CREV needs less iterations than GDA, and less population size than conventional PSO. Hence the computational cost of NNPC is reduced by using PSO-CREV, so that NNPC using PSO-CREV is more feasible for the control of rapid processes. As an example, a test of trajectory tracking using mobile robots is chosen to compare performance of PSO-CREV with other algorithms to show its advantages, especially on the aspect of computational time.
Original languageEnglish
Title of host publicationAdvances in Neural Networks - ISNN 2007 - 4th International Symposium on Neural Networks, ISNN 2007, Proceedings
Pages813-823
Number of pages11
EditionPART 1
Publication statusPublished - 24 Dec 2007
Externally publishedYes
Event4th International Symposium on Neural Networks, ISNN 2007 - Nanjing, China
Duration: 3 Jun 20077 Jun 2007

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
NumberPART 1
Volume4491 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference4th International Symposium on Neural Networks, ISNN 2007
Country/TerritoryChina
CityNanjing
Period3/06/077/06/07

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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