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US5513098A
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Method for model-free control of general discrete-time systems
Assignee: Johns Hopkins University
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Filing: 1994-12-27
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Granted: 1996-04-30
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Expires: 2014-12-27
Abstract
Abstract A method of developing a controller for general (nonlinear) discrete-time systems, where the equations governing the system are unknown and where a controller is estimated without building or assuming a model for the system. The controller is constructed through the use of a function approximator (FA) such as a neural network or polynomial. This involves the estimation of the unknown parameters within the FA through the use of a stochastic approximation that is based on a simultaneous perturbation gradient approximation, which requires only system measurements (not a system model).
Inventors
- 👤 James C. Spall
- 👤 John A. Cristion
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-29 05:43
CPC Classifications
G; G05; G05B; G05B13/00; G05B13/02; G05B13/0265; G05B13/027
Claims Analysis
Total Claims: 11
Claim 1
Independent Claim
122 words
A method for approximating a controller for a nonlinear, discrete-time, closed-loop, stochastic system wherein the nonlinear functions governing the system dynamics and measurement process are unknown, the method comprising the steps of: obtaining information about the system; inputting the information about the system into a data processing means; approximating the controller using the data processing means and the information about the system comprising the steps of: selecting a single function approximator to approximate directly the controller; estimating the unknown parameters of the single function approximator in the controller using a stochastic approximation algorithm; and using the single function approximator to approximate the controller, wherein an output of the single function approximator is the controller; and using the controller to control the system.
Claim 2
Independent Claim
122 words
A method for approximating a controller for a nonlinear, discrete-time, closed-loop, stochastic system wherein the nonlinear functions governing the system dynamics and measurement process are unknown, the method comprising the steps of: obtaining information about the system; inputting the information about the system into a data processing means; approximating the controller using the data processing means and the information about the system comprising the steps of: selecting a single function approximator to approximate directly the controller; estimating the unknown parameters of the single function approximator in the controller using a stochastic approximation algorithm; and using the single function approximator to approximate the controller, wherein an output of the single function approximator is the controller; and using the controller to control the system.
Claim 3
Dependent Claim
28 words
The method as recited in claim 1, the selecting a single function approximator step comprising the step of selecting a single continuous function approximator to approximate the controller.
Claim 4
Dependent Claim
36 words
The method as recited in claim 1, the estimating the unknown parameters step comprising the step of estimating the unknown parameters of the single function approximator in the controller using a simultaneous perturbation stochastic approximation algorithm.
Claim 5
Dependent Claim
26 words
The method as recited in claim 3, the selecting a single function approximator step comprising the step of selecting a neural network to approximate the controller.
Claim 6
Dependent Claim
27 words
The method as recited in claim 4, the selecting a neural network step comprising the step of selecting a multilayered, feed-forward neural network to approximate the controller.
Claim 7
Dependent Claim
26 words
The method as recited in claim 4, the selecting a neural network step comprising the step of selecting a recurrent neural network to approximate the controller.
Claim 8
Dependent Claim
25 words
The method as recited in claim 3, the selecting a single function approximator step comprising the step of selecting a polynomial to approximate the controller.
Claim 9
Dependent Claim
25 words
The method as recited in claim 3, the selecting a single function approximator step comprising the step of selecting a spline to approximate the controller.
Claim 10
Dependent Claim
26 words
The method as recited in claim 3, the selecting a single function approximator step comprising the step of selecting a trigonometric series to approximate the controller.
Claim 11
Dependent Claim
27 words
The method as recited in claim 3, the selecting a single function approximator step comprising the step of selecting a radial basis function to approximate the controller.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1999-04-30 | 1999-10-30 | 2000-04-30 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2003-04-30 | 2003-10-30 | 2004-04-30 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2007-04-30 | 2007-10-30 | 2008-04-30 | $7700.00 | Window Closed / Lapsed |