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    P91 Icsse2021 Id148

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    P91-ICSSE2021-ID148

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    P91 Icsse2021 Id148

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    2021 International Conference on System Science and Engineering (ICSE) Adaptive Nonlinear PID Control Using Output Recurrent Broad Learning System for Discrete- Time Nonlinear Dynamic Systems Guo-Shun Hung '? "Department of Electrical Engineering, National Chung Hsing University Taichung 40227, Taiwan 2Hong Ming Automation Technology Co. Ltd, Taichung 41263, Taiwan atthepol @livemail.w Abstract—This paper presents a new learning control structure using output recurrent broad learning system (ORBLS) for adaptive nonlinear PID contro! of unknown digital nonlinear dynamic systems with time delays. The proposed control method, abbreviated as -ANPID, is novel ‘ORELS and model predictive eontrol to develop a 1r PID control law for high-performance setpoint tracking control and disturbance rejection. Comparative simulations on two renowned nonlinear digital time-delay systems are well used to show the effectiveness and superiority ‘of the proposed method by comparing to six existing methods. Keyword—Output recurrent broad learning system, nonlinear PID control, nonlinear dynamic systems, Lyapunov stability theory. 1. Inropucrion In the past decades, conventional proportional-integral- derivative (PID) controllers have gained widespread use in ‘numerous control applications due to its simplicity of design and efficiency in the industrial applications (1]-[4]. Although the PID controller has only three parameters to be tuned, iis surprisingly difficult to find the right tuning for them without systematic procedures. As such, the tuning of the PID gains is always a challenge in the state of the art of PID controller design. In other words, the main problem with a PID controller is the fact that the parameters of the PID controller ‘ust be adjusted properly to meet desired performance. This, problem becomes more important when considering issues that include stability and control performance. Recently, adaptive PID control methods together with its related control approaches have still been developed by researchers [5-8]. ‘Adaptive PID controller designs with controller parameters updated online by the neural network models were also presented. Pan et al. [5] developed a two-layer supervised control method for tuning PID controller parameters based on ‘model parameters estimated by the lazy learning technique. In|[6], Fahmy et al. proposed an adaptive PID controller using the recursive least square algorithm which updates the PID zains automatically online to force the actual system to behave like a desired reference model. In [7], Oliveira and Lemos proposed a comparison of some fuzzy-model-based adaptive-predictive control strategies. Yang et al. [8] presented an adaptive predictive control strategy based on Laguerre functions in the chopper cascade control system, and examined it by experiments (978-1. 6654-4848-221/831,00 ©2021 IEEE 42 Ching-Chih Tsai Department of Electrical Engineering, National Chung Hsing Universit Taichung 40227, Taiwan cetsai@nchu.edu.tw More recently, machine-learning algorithms have made significant progress, especially deep learning technologies that have been made in wide areas [9]-{12]. By successively adjusting the weights between neurons over many input- ‘output pairs, the function computed by the network is refined overtime so that it provides more accurate predictions. The lately presented broad learning system (BLS) is an emerging ‘way for efficient and effective modeling of complex systems [13/115]. In [13}-[14], Chen and Liu developed a very fast and efficient BLS based on the random vector functional-link neural networks (RVFLNN) [16] to offer an alternative way for deep learning and structure. The designed model can be expanded in wide fashion when new feature nodes and enhancement nodes are needed. Moreover, the corresponding incremental learning algorithm is also designed. The BLS offers an alternative to deep learning because it has a fast and broad expansion without the need for retraining through incremental learning. The input signals are passed to the ‘mapped feature layer and then passed to the enhancement layer via a nonlinear transformation. Although NNs possess good function approximation capabilities for nonlinear dynamic systems, the taining process is very time- consuming. On the other hand, the BLS system has been shown to preserve good function approximation capabilities and illustrated the feasibility and benefits of BLS-based control techniques for identification and control of nonlinear dynamic systems [13]-{15], [17]-{19]. As the authors’ best understanding, no report has been given to output recurrent BLS (ORBLS) yet. Conventional PID controllers have been regarded as the simplest and the most deployed controller in industry. To extend the robustness and adaptability of the conventional PID controller, by integrating the simplicity and effectiveness of the conventional PID controller and the learning and automatic adjustment capabilities of the intelligent control strategy based on the nonlinear PID controller for the nonlinear dynamic system have been proposed [20]-[24]. For example, Wang ef al. [20] presented an adaptive nonlinear PID controller using a modified Neural network (MNN) for learning the characteristics of a dynamic system. In (21), Tsai et al, proposed an adaptive Nonlinear PID fuzzy-neural controller and applied it to the nonlinear model reference control system. Fu ef al. (22] presented a robust self-tuning Nonlinear PID controller by combining a pole assignment 2021 International Conference on System Science and Engineering (ICSSE) self-tuning PID controller with a filter. Cong and Liang [23] proposed a Nonlinear PID neural network nonlinear adaptive controller for motion control systems by using a mix of locally recurrent neural network. The gradient descent method is used for online adjustment and the initial PID parameters are needed which can operate the closed-loop stably. In [24], Kumar et al. proposed a hybrid neural network-based PID like adaptive controller for precise position control of a PMSM servo drive. So far, many adaptive PID controls for industrial applications have still been proposed [25-27]. The authors in [28] presented a Nonlinear PID control method using BLS: however, this kind of Nonlinear PID control method was limited to a class of nonlinear dynamic systems without time-delays. Inspired by the above-mentioned surveys the objective of this paper isto propose an ORBLS-based adaptive predictive Nonlinear PID control, simply called ORBLS-ANPID, for a class of unknown nonlinear discrete-time time-delay systems not only for disturbance rejection but also for precise tacking and guaranteed stability. The presented contents of the paper are written in two principal contributions. One is. the theoretical derivation and proof of a more general adaptive Nonlinear PID control approach using ORBLS for unknown nonlinear time-delay dynamic systems by comparing to the result in [28], The other is comparative investigation of the proposed ORBLS-ANPID in comparison with six existing adaptive PID control methods ‘The rest of this paper is organized as follows. The basic ideas of the ORBLS and ORBLS identifier design are described in Sections II and IIl, respectively. Section IV is devoted to proposing an ORBLS-ANPID control law. investigating its closed-loop stability and iterative control algorithm. Section V uses computer simulations to explore the effectiveness and superiority of the proposed ORBLS- ANPID method for two illustrious nonlinear time-delay systems. Section VI states the conclusions and future work, I. 2.1. Introduction to ORBLS INTRODUCTION TO ORBLS Fig. | illustrates the network structure of ORBLS, which is delineated as follows. First, the raw data is mapped into ‘mapped features. Then, the mapped features are promoted as enhancement nodes with randomly generated weights. Finally, all mapped features and enhancement nodes are connected to the system output nodes. One defines the weight ‘matrices connecting the outputs of mapped feature nodes and enhancement nodes to the system output nodes as WIW, By Wy By We Be %T where W, ao Lvgshucx, + Wy iS the weight connecting the [-th input x, to the k-th feature node in the i-th mapping group: 8, =[biy leg. bj, is the bias term associated to the kath i-th mapping group: Wy, = [ic ligare-se,nn> Wx iS the weight connecting the feature node in the ‘th feature node of the i-th mapping group to the j-th enhancement node: Py =[B, Inu» b; the jah is the bias term associated 10 enhancement node; Wy, (Wf Wjsonty is the weight ‘matrix connecting the outputs of feature nodes and enhancement nodes to the system output nodes, 1, is the weight connecting the k-th feature node in the i-th ‘mapping group to the output neuron, and yr, is the weight connecting the j-th enhancement node tothe output node. It is worth noting that all the weights and biases, wy and. bi «in the feature mapping layer can be specified either by a Sparse auto-encoder or by an iterative leaming algorithm, 2.2 System Identification and Consrol Using ORBLS This subsection is devoted to briefly describing how the ORBLSs can be used to achieve system identification and control. The basic idea in doing so isto find on-line learning Fig. 1. Tbpologicel srucae of the used ORBL Smodel 2 Nonlinear |__») @ >| Plant | y Fig. 2. Conceptual diagram of the ORBLS identifier. slgorithms to update the key parameters of used ORBLSs s0 os to minimize a kind of quadkatic cost fimction, E(k). A. basic gradient-based technique can be easily used to sminimize the cost function (2). This results in the following, rule for the adaptation of model parameters Wk +1) = Wik) = 7 E(k) /OW(k) (2) where 71> 0 is the leeming rate, and W(k) is the weight vector containing all model parameters at the time instant Wk) isthe updating perameter vector, end E(k) /OW(K) is the gradient of E(k) with respect to Wik). It has been shown that such ¢ learning procedure minimizes the global cost function E(k) provided thet the learning rate 1 is sufficiently small [5] 485 2021 International Conference on System Science and Engineering (ICSSE) boston te eat bunt atime wins age teeta Sie ee arta Sortanimancnt ec rename tat eae > vest y(k-2), (kd) ulk=d=1), Where the plant input as u(.):Z" 98! the plant output as FOR" SR be a nonlinear dezt time-delay of the system. Moreover, the incremental plant ‘model with the time-delay d can be rewritten by the following advanced form. y(k+d-1),y(k+d-2), ® (Au (=I) 3.1. Updating Laws for the ORBLS Identifier In the subsection, we will propose an iterative learning algorithm for ORBLS to approximate the nonlinear system in 4). Suppose there are» mapping groups with K, feature nodes in the /-th group, and there is one group of m enhancement nodes. One denotes the weight matrix connecting the outputs of feature nodes and enhancement nodes othe output node as in (4). The input vector is denoted by, X,./=Lem, and the ORBLS output vector § given as v(t-n) u(k-d-n, yz" 9H function, n,€Z*. ne z* represents the known y(k+d-n,) SAAS, (Ede +5,+0,5(k- ») 6 smua(See) mn ‘k-th feature node in the i-th mapping group, and! (.x) = is a linear activation fiction, and 2,(x)=tanh(x) is @ nonlineer activation finetion, The proposed iterative learning algorithms are based on the gradient descent method: the algorithms first find the radients of all the updating parameters inthe used ORBLS identifier as shovn in Fig. 2, and then se the deepest descent approach to obtain the iterative parameter leaming rules or algorithms. In doin so o obiain the leaning algorithms for the seven types of parameters, BB, and ©%, of the ORBLS identifier in (5), one defines the error function E(k) for the ORBLS identifier by E,(k)= S08) Soy 2 2 where j(k) denotes the output of the ORBLS identifier By Ullizing the deepest gradient descent algorithm, one obtains the leaning law for the parameter vector W, vie Q) ek) © atk) W441) = W,0) 47,6, G HEDWWIne Way Gr where , is the reel and positive lesmning rete for the identifier, W,=(W; 6, W) 6 Wi 6 of!" and aicky _f aie) ace) ack) ik) aut) atk) WH Fw WH FH WAH BBL Bar 3.2. Convergence Proof of the ORBLS Identifier ‘The following theorem will show that the proposed algorithm is asymptotically convergent via the discrete-time Lyapunov stability theory ‘Theorem 1: The ORBLS identifier (5) with the parameter earning rule (7) and persistently exciting inputs is uniformly asymptoticelly convergent if 7,(k) satisfies the condition ®), k) awh, Proof. To obtsn the sufficient condition ofthe arymptotical convergence ofthe proposed ORBLS identifier, lt us define the Lyapunov function as L(k)= (o(8) 30) = ek) ® Then, the time difference of the Lyapunov function is given y Ady (k) = Ly(K-+1)~ Ly() = Be (k)-[2ey(k)+2e4(4)] 1) where O

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