Structure and Optimization of Parameters for Neural Network Controllers in Automatic Control Systems

The article outlines the methodology of structural and parametric synthesis of neural network controllers for controlling objects with limiters under incomplete information about the controlled object. Artificial neural networks are used to create controllers that are sequentially integrated into a control system with control objects. Reinforcement learning and pre-building a neural network imitator of the control object are used to synthesize the neural network controller. This approach is particularly effective when classical control system synthesis methods are not applicable due to significant nonlinearity and the difficulty in forming a mathematical model of the control object with the required accuracy. The proposed methods expand the class of technical systems for which direct synthesis of near-optimal control laws is possible. The robustness, adaptability and technical feasibility of neural network controllers make them interesting for practical applications. The main attention in the article is paid to the choice of neural network structure in the imitator and controller, formation of training samples taking into account the limitations of the control object.

Formations organization in robotic swarm using the thermal motion equivalent method

Due to its decentralised, distributed and scalable nature, swarm robotics has great potential for applications ranging from agriculture to environmental monitoring and logistics. Various swarm control methods and algorithms are currently known, such as virtual leader, vector and potential field, and others. Such methods often show good results in specific conditions and tasks. The variety of tasks solved by the swarm requires the development of a universal control algorithm. In this paper, we propose an evolution of a thermal motion equivalent method (TMEM) inspired by the behavioural similarity of thermodynamic interactions between molecules. Previous research has shown the high efficiency of such a method for terrain monitoring tasks. This work addresses the problem of swarm formation of geometric structures, as required for logistics and formation movement tasks. It is shown that the formation of swarm geometric structures using the TMEM is possible with a special nonlinear interaction function of the agents. A piecewise linear interaction function is proposed that allows the formation of a stable group of agents. The results of the paper are validated by numerical modelling of the swarm dynamics. A linear quadrocopter model is considered as an agent. The fairness of the choice of the interaction function is shown.