Hopfield Network Approach to Direct Adaptive Control of Nonlinear Systems

摘要

An automatic control system capable of controlling an unknown nonlinear system isdesigned 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 ordered 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.