Advanced control engineering (S.R. Burns, 2001)

$ $

#

$

$

$

$ $

$

$ $

$

$ $

$

u(kT )

y(kT )

Plant

y(kT ) – y(kT )

+

– y(kT )

Neural

0(kT )

C

Network

(m/s)

7

Actual

6.5

Neural

(Surge)

Forward

5.5

5

4.5

4

50

100

150

200

250

300

350

400

0

1.2

Actual

1

(m/s)

0.8

Velocity

0.6

Neural

(Sway)

Network

Lateral

0.4

0.2

0

0

20

40

60

80

100

120

140

160

180

200

r(kT )

+

Neural

uc(kT )

y(kT )

–

Network

Plant

Controller

d(kT )

r(kT ) +

e(kT )

Plant

u(kT )

+

y(kT )

–

Inverse

Plant

+

Model

+

n(kT )

+

Plant

+

–

Model

Layer 1

Layer 2

Layer 3

Layer 4

Layer 5

(Premise Parameters)

(Consequent Parameters)

x1 x2

A1

x1

w1

w1

w1f1

N

A2

TT

∑

f

TT

N

B1

w2

w2

w1f2

x2

$ # #

$ # #

$ # #

$

$

$

$

Rulebase

–

FLC

Plant

+

em(kT )

+

–

–

Neural

Network

Model