I Nyoman Sutantra, Mauridhi Hery Purnomo : New Method Of Neuron Design Based On Discrete Z Function To Adapt The Change Of Integrated Vehicle Stability Control Order
Prof. Ir. I Nyoman Sutantra M.Sc., Ph.D
Prof.Dr.Ir. Mauridhi Hery Purnomo M.Eng.
Fixed order neural networks (FONN), such as high order neural network (HONN), in which its architecture is developed from zero order of activation function and joint weight, regulates only the number of weight and their value. As a result, this network only produces a fixed order model or control level. These obstacles, which affect preceeding architectures, have been performing finite ability to adapt uncertainty character of real world plant, such as driving dynamics and its desired control performance.
This paper introduces a new concept of neural network neuron. In this matter, exploiting discrete z-function builds new neuron activation. Instead of zero order joint weight matrices, the discrete z-function weight matrix will be provided to realize uncertainty or undetermined real word plant and desired adaptive control system that their order has probably been changing. Instead of using bias, an initial condition value is developed. Neural networks using new neurons is called Varied Order Neural Network (VONN). For optimization process, updating order, coefficient and initial value of node activation function uses GA; while updating joint weight, it applies both back propagation (combined LSE-gauss Newton) and NPSO. To estimate the number of hidden layer, constructive back propagation (CBP) was also applied.
Thorough simulation was conducted to compare the control performance between FONN and MONN. In order to control, vehicle stability was equipped by electronics stability program (ESP), electronics four wheel steering (4-EWS), and active suspension (AS). 2000, 4000, 6000, 8000 data that are from TODS, a hidden layer, 3 input nodes, 3 output nodes were provided to train and test the network of both the uncertainty model and its adaptive control system.
The result of simulation, therefore, shows that stability parameter such as yaw rate error, vehicle side slip error, and rolling angle error produces better performance control in the form of smaller performance index using FDNN than those using MONN.