A Hopfield network approach to direct adaptive control of nonlinear systems
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Authors
Starsman, Raymond Scott
Subjects
Direct adaptive control
Nonlinear systems
Hopfield net
AUV
Nonlinear systems
Hopfield net
AUV
Advisors
Cristi, Roberto
Date of Issue
1991-12
Date
December 1991
Publisher
Monterey, California. Naval Postgraduate School
Language
en_US
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 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.
Type
Thesis
Description
Series/Report No
Department
Department of Electrical and Computer Engineering
Organization
Naval Postgraduate School (U.S.)
Identifiers
NPS Report Number
Sponsors
Funder
Format
97 p.
Citation
Distribution Statement
Approved for public release; distribution is unlimited.