Enhance computational efficiency of neural network predictive control using PSO with controllable random exploration velocity

Abstract

NNPC has been used widely to control nonlinear systems. However traditional gradient decent algorithm (GDA) needs a large computational cost, so that NNPC is not acceptable for systems with rapid dynamics. To apply NNPC in fast control of mobile robots, the paper proposes an improved optimization technique, particle swarm optimization with controllable random exploration velocity (PSO-CREV), to replace of GDA in NNPC. Therefore for one cycle of control, PSO-CREV needs less iterations than GDA, and less population size than conventional PSO. Hence the computational cost of NNPC is reduced by using PSO-CREV, so that NNPC using PSO-CREV is more feasible for the control of rapid processes. As an example, a test of trajectory tracking using mobile robots is chosen to compare performance of PSO-CREV with other algorithms to show its advantages, especially on the aspect of computational time. © Springer-Verlag Berlin Heidelberg 2007.