Black-box Model Identification Using Neural Networks and Adaptive Control for Fast Time-Varying Nonlinear Systems Won-Kuk Son, Kenneth B. Bollinger and {Chang-Goo Lee Dept. of Electrical Engineering University of Alberta, AB, Canada, T6G 2G7 {Dept. of Control & Instrumentation ChonBuk National University, South Korea Abstract A fast aiid flexible adaptive self-tuning control (STC) is proposed in this paper for nonlinear, fast time-varying and multi-input multi-output (MIMO) systems using novel Output and Error Recurrent Neural Networks (OERNN) in Fig. 3. The key point of this research for nonlinear control is to develop a fast tracker with a flexible adaptive control scheme which does not require previous knowledge about the plant to be eontrolled, but black-box model. Hence its algorithms have a flexibility for diverse plant applications, In order to carry out this research goal, system iden- tification has successfully been achieved based on a re- current neural network model, and nonlinear quadratic (NQ) optimal law has also been derived and tested to the fast tracking problem for a revolute three d-o-f robotic manipulator. 1 INTRODUCTION ‘The dynamics of a fast time-varying nonlinear process is in general time-history dependent and can not be mod- clled by static input-output maps. At high speed, for example, a robot manipulator is known as a strongly non- linear, time-varying and coupled system. Power systems exhibit similar nonlinear characteristics for large distur- bances. With this point of view, recurrent neural net- ‘works with feedback of time-delayed control variables and error signals, called OERNN, are proposed and used to ‘obtain good system identification. For practical applica- tions, the structure of the neural model and control law should be simple and fast, and readily implemented in real-time, i, on-line For the robust control of a revolute robot manipulator, both OERNN model for the identification with recursive (0-7803-3280-679685.00 1996 IEEE, om “> (o =F _ Figure 1: Conventional Neuron Model Figure 2: Proposed Neuron Model least squares (RLS) algorithm and optimal NQ control based on the identified OERNN model ate applied to the simulated dynamics of three d-o-f robot arm. This re- sulted in a system with good performance, which implies good fiexibility of application to other nonlinear time- varying plants, 2 SYSTEM IDENTIFICATION In this section, the term identification is used to refer to the process of developing a neural network model having = 308 -unknown time-varying synaptic weights and estimating them recursively at each sampling instant & by observing inputs and outputs of the system to be controlled. 2.1 Neuron Model of Error Recurrent In conventional neuron model in Fig. 1, the threshold or bias applied externally have the effect of lowering and imereasing the net input of the activation function respec- tively [I]- However itis difficult for designer to determine their magnitude and sign depending on the systems to be controlled and to find the pliysical interpretation with aystems. In this new approach for the neuron model instead, (a) input for threshold or bias takes values from an error sig- nal between desired actual output and model output for the supervised training and (b) synaptic weight is added for the recurrent error signals. ‘This is depicted in Fig. 2. ‘The new neuron model can make an automatic decision on sign and magnitude for threshold or bias value instead of manual selections of ~1 or +1 by a designer. Also its error feedback is expected to make a direct contribution to fast tracking behaviour because it creates a new and meaningful input source of error signal compared to con- ventional neuron models, hence it is able to induce fast lentification capability 2.2 Architecture of OERNN Generally the dynamics of a fast time-varying nonlinear process is time-history dependent and static input-output, ‘mapping is not adequate for that. With this condition, recurrent neural networks with feedback of time-delayed outputs and error signals based on the proposed neuron model have been constructed to deal with a nonlinear fast non-autonomous unknown plant with three inputs and outputs. This is shown in Fig. 3. Its output equation is expressed as below. Wk) = gl®P(R~ 1wj(E)} for f= 1,23. (1) y™k) = GlAy™**t(k - 1) + Bu(k — 1) + Ce(t —1)) where vj (K)andy?"(k) are scalar and vector respectively, al] is a dilferentiable activation fanetion including con- stants, a and b to determine the slope and saturation values of hyperbolic tangent function respectively: a+ ee) = We) aE 0; i(k = 1)---us(k— sek = 1] W(k) is weight matrix as follows: WTR) = [e(A)wia(R)via())7 = AW:BH); 60) WCE) Lagr-ayss bya -bysieg]” ans as AQ) = aa - as fn hs Ba)=| : ba + bss [3 o | e@)=| 0 on 0 0 0 cag Al elements in A(k),B(and€() are assumed con- stants foreach sampling duration k's where T's stands for sampling period. Therefore argument k represents ETs 2.3. Training Algorithms One of the popular training methods for both feedforward and recurrent networks is called the error backpropagation (BP) algorithm which can often find a good set of weights in a reasonable amount of time, However, there are some drawbacks. These include: (a) BP tends to get trapped at local minima since it is a method for calculating the gradient of the error with respect to the weight. With enough momentum, BP can= JR tw s(b) + 9187 - Dyk 1)) a (b= 1veg(b 1) + eC) 2) where xF(k—1) 1's derivative, ef"(k) is error of higher order term in the process of ‘Tay- lor sevies expansion /[e]9 (& —1) for v= P(E — YW, (k~ 1), From Fig. 3, BPP(k) = yM(h) + eFC) @) where ¥ps*(k) is a measured actual output, of (is a neural network output, eF'*(k) is a modelling error between yp**"(&) and yp(k). Equation 2 and 3 are combined to yield @ linearized ‘equation given in 6 by definition of equation 4 and 5. Figure 3: OERNN Model BPe(k) = xP (k— t)we(k) + of OP (k ~ 1) (k - 1) = xP = 1)wy(k 1) + F(R) + ef(8) escape these local minima. In this ease, however, next Step weight estimates will not always be a better ene. (8) = fh) —ploTe —)8 (8 (6) BP can not handle discontinuous optimal criteria s(t) 4 (8) — slOP Ce ~ Ayey(b — D+ and has the sealing problem such that its performance x} (k= Dws(k — 1) 4) falls off rapidly on increased complexity even though it works well on simple training problems ce nets.) (©) BP learning speed is sometimes very slow when the SH = Gh) Heh (5) slobal minima are well hidden among local minima {2} In this paper, drawbacks on BP ate solved by the te- a am cursive least square algorithm, that has a fast learning 28) = FE Yws(H +(e) (6) pest online after the devised reeurent neural networks Now both zs(&) and xf(E—1) in linearized model equa- are appropriately linearized. tion 6 are observable ai the sampling instant &. To c=. timate the weight vector wj(k) in equation 6, RLS algo. 2.3.1 Linearization and RLS Algorithm rithm in equation 7 and 8 is applied for minimization of 4 BM) for j=1,2,3. Im order to estimate the unknown synaptic weights in OERNN, the output equation 1 of the OERNN model . : is written as a linearized form by the Taylor series ex- Walk) = Wik ~1) + p(B) (E - 1)fe(k) — pansion with respect to previous weight veetor Wy(k —1) xP(k=1) s(t —1)) @ known at the sampling instant k: BR) = GBF C— wy] = OP (e = Dw y(k = 1) + [este ea Pi(E = Ixs(k ~ tof (bk )Py( 1) ere) WO) x7 E=DPE— Dy ED Los() — w(t — 1)) + eft(R) (8) b= 1 -n- Py(k) = an [se ») = 358 -Figure 4: Joint1-velocity Identification Figure 5: Joint2-velocity Identification Figure 6: Joint3-velocity Identification 3 OPTIMAL CONTROLLER DESIGN Conventional quadratic cost functionals are quite general in form for Linear plants and Quadratic criterion (LQ) for minimax LQ optimization [3] ‘This paper presents the optimal control law for Nonlinear-Quadrotic tracking and servo problems where ‘the desired signals are tracked by the outputs of the non- linear plants which were modelled by output. and error recurtent neural networks in dynamics. The resulting al- gorithm is free from a restrictive dependence on the prior known equations of motion. ‘The goal in the controller design for a dynamic non- linear system is to minimize a nonlinear function of the squared deviation from the desired velocity and position. ‘The control energy is included in the following cost func tion. Figure 7: Adaptive Control Based on Neural Networks SEX Io GE +] - GE +1) 4D [omy (k++ I Huh 7S #} ) Thu where expectation operation E{-/ © i’) is conditional ‘on the available measurements up to and including time k-Ts; weighting diagonal matrices D is symmetric and positive semidefinite, and R. and Q is symmetzic and positive definite; ||-|[k indicates the generalized norm 2s [jal = u?Reu; fy] is a inverse of activation function for y = Gly} The NQ optimal control law based on OERNN is writ ten as follows: wi) = [n+ 87QH] BQ (G~HME+ U) —Ay™*"(k) — CO™(K) + D- [E“Hy “(B+ y4(be) Ts] - Gy™() + 7™(L) TY] (a0) eoFigure 8: Joint1,2,3-Position Tracking Figure 9: Joint1,2,3-Position Tracking Errors 4 SIMULATION These techniques are applied to the three joint PUMA 600. ‘The measured data were computed at each sampling period based on real values in(d) [5 Generally at the beginning of aynaptic weight estima- tion, identification and tracking performance are poor due to the choice of initial weight values. In order to reduce the effects of initial conditions, the weighting matrix R. in equation 9 is made to decay with time & to emphasize more the role of control gain u(k) than the one of tracking crtor at beginning of training stage, while the forgetting factor 7 in equation 8 is made to grow exponentially from (0) < 0.95 to 7(&) — 1 because a smaller 7 gives faster tracking. (but leads to a greater sensitivity) Its identification and tracking performance are shown in Fig. 4,5, 6 and Fig. 8, 9 respectively. 5 CONCLUSIONS In this paper, recurrent neural network as a black-box was used to identify the nonlinear time-varying systems through robot manipulator dynamics. ‘Training proce. dures consist of the linearization of a devised nonlinear neural model and the estimation of unknown synaptic weights by RLS algorithm on-line. The identified neural OERNN model was used to derive the optimal NQ con- trol law, which can be applied to other nonlinear, fast time-varying systems without changing the overall con- trol structure, since this control scheme conforms to an indirect adaptive (self-tuning) control. See Fig. 7. The proposed neural network is simple in topology, fast in computation, accurate in identification and robust in tracking of arbitrary desired profiles. Hence it may be able to be applied to real world problems, compated to [6] which used a neural network model of 5244 output. weights to be trained to control the planner two joint robotic manipulator. References [1] Haykin, Simon, Neural Networks : A Comprehensive Foundation. Macmillan College Publishing Company Inc., New York, 1994, 2] Mefnerney, Michael and Dhawan, Atan P., Use of Genetic Algorithms with Back Propagation in Train- ing of Feed-Forward Neural Networks. IEEE Int Conf. on Neural Networks Vol.1, 1993. Rishel, Raymond and Harris, Lawrence, An Algo- rithm for-a Solution of a Stochastic Adaptive Linear Quadratic Optimal Control Problem. Proc. of 24th Conf. on Decision and Control, Ft. Lauderdale, FL, pp832-36, Dec. 1985, @ Murray, John J. and Neuman, Charles P,, ARM: An Algebraic Robot Dynamic Modeling Program. IEEE 1984 International Conference on Robotics, pp103 14, [5] Poul, Richard P, and Zhang, Hong, The Dynamics of the PUMA Manipulator, IEEE Proc. of the 1983 American Control Conference, Vol.2, San Francisco, California, pp491-496, 1983, (6 Sanner, Robert M. and Slotine, Jean-Jacques E., Stable Adaptive Control of Robot Manipulators Using Neural Networks. Neural Computation 7, 753-790, 1095. ~ 360 -