Neural Networks for Control of Autonomous and Semi-Autonomous Systems

在这笔拨款下，PI将尝试开发基本的、定性的扩展，以及他在该部分非常有效地应用于航空航天问题的高级自适应动态规划(ADP)设计。他将集中于四个主要领域：1)基于多层神经网络的随机最优控制器，其代价函数的误差有界；2)基于简化的自适应批评的非线性系统控制器；3)具有统一公式的非线性系统的新的观测器/滤波器；4)耦合(动态或任务型)系统的新的仿生问题求解结构。他将尝试将这些方法应用于互联和复杂系统的控制，并基于数学上严格的解和分析结构。测试问题涉及在自主和半自主环境下“健壮而又脆弱”的复杂系统的元素。这一研究的结果将有助于理解这类重要问题的性质，例如电信、电网、民用基础设施、供应链管理、互联网、生物系统等。应该注意的是，长期使用的传统方法并不能为理解或完整地解决这类具有动态和目标不确定性的非线性问题提供关键。这项研究的教育部分将通过与当地科学和数学教师的互动，将这一结果与K-12学生联系起来。通过本研究中提出的实验，K-12年级的学生也许能够更好地在工程中使用数学和科学。

Under this grant, the PI will try to develop fundamental, qualitative extension, and the advanced adaptive dynamic programming (ADP) designs he has applied very effectively to aerospace problems in the part. He will focus on four major areas:1) multilayer neural network based stochastic optimal controllers with bounds on the error of the cost function 2) simplified adaptive critic based controllers for nonlinear systems3) new observer/filters for nonlinear systems with a unified formulation and 4) new bio-inspired problem solving structures for coupled (dynamically or task wise) systems.He will attempt to apply these methods to the control of connected and complex systems, and based on mathematically rigorous solution and analysis structures. The test problems involve elements of 'robust and yet fragile' complex systems in an autonomous and semi-autonomous setting. The outcome of this research will help understand the properties of this important class of problems, some examples of which are the telecommunications, power grids, civil infrastructure, supply chain management, internet, biological systems etc. It should be noted that the traditional approaches, in use for a long time, have not provided the key to understanding or complete solutions of this classes of nonlinear problems with uncertainties in dynamics and goals. The educational part of this research will deal with relating this outcome to K-12 students through interactions with local science and math teachers. With the experiments that are proposed in this research, the K-12 students might be able to relate better to the use of math and science in Engineering.