A Hopfield Network Approach to Direct Adaptive Control of Nonlinear Systems

Abstract

An automatic control system capable of controlling an unknown nonlinear system is designed using a direct adaptive control scheme, implemented with a Hopfield network. The application of this method to an arbitrary system is discussed in detail and three specific simulation studies are included. These studies include the implementation of the Hopfield network based direct adaptive control system to a linear system, an inverted pendulum, and a nonlinear model of the NPS Autonomous Underwater Vehicle (AUV) with six degrees of freedom. The AUV simulation includes a three dimensional trajectory following algorithm and shows the ability of the Hopfield network to adapt to simultaneous ordered changes in the AUV's depth, speed, and course. Additionally, an analog circuit design is proposed which implements the automatic control scheme without the support of a microprocessor. The circuit was set up in SPICE and the simulation results as well as some limitations of the analog circuit implementation of the Hopfield network are presented.

Open PDF

Document Details

Document Type
Technical Report
Publication Date
Dec 01, 1991
Accession Number
ADA244667

Entities

People

  • Raymond S. Starsman

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Advanced Electronics
  • Autonomy
  • Energy and Power Technologies

DTIC Thesaurus Topics

  • Adaptive Control Systems
  • Algorithms
  • Artificial Intelligence
  • Autonomous Underwater Vehicles
  • Closed Loop Systems
  • Computational Science
  • Computers
  • Control Surfaces
  • Control Systems
  • Control Systems Engineering
  • Differential Equations
  • Electrical Engineering
  • Models
  • Neural Networks
  • Nonlinear Differential Equations
  • Signal Processing
  • Underwater Vehicles

Readers

  • Adaptive Control and Estimation with Uncertainty in Dynamic Systems.
  • Robotics and Automation.