An echo state network-based feedforward feedback controller for application in dynamic systems control Online publication date: Mon, 25-Mar-2024
by Kazuhiko Takahashi; Naoyuki Kita; Miku Sasaki; Reika Kimura; Masafumi Hashimoto
International Journal of Advanced Mechatronic Systems (IJAMECHS), Vol. 11, No. 1, 2024
Abstract: This study explored the application reservoir computing, particularly echo state networks (ESNs), to control dynamic systems. The design method of a servo-level controller was proposed, where the ESN matches the objective plant output with the reference output. The ESN was combined with a feedback controller to obtain the control input of the plant. The ESN-based controller was first trained using a linear-regression approach with fixed datasets gathered from the objective plant. Thereafter, feedback error learning was performed during the control process in real-time to compensate for the control error due to the identification error of the plant's inverse transfer function. Computational experiments involving the control of a discrete-time nonlinear plant were conducted. The simulation results clarified the feasibility of the proposal and validated the performance of the ESN-based controller.
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