Paper available on ftp

[Venugopal]

	      *** PLEASE DO NOT FORWARD TO OTHER GROUPS  ***


      Preprint of the following paper (to appear in Circuits, Systems and
      Signal Processing) is available on ftp from neuroprose archive:


               AN IMPROVED SCHEME FOR THE DIRECT ADAPTIVE CONTROL
          OF DYNAMICAL SYSTEMS USING BACKPROPAGATION NEURAL NETWORKS
                       

		 K. P. Venugopal, R. Sudhakar and A. S. Pandya
		   
		        Department of Electrical Eng.
                   Department of Computer Science and Eng.
		        Florida Atlantic University


        Abstract:

	This paper presents an improved direct control architecture for
	the on-line learning control of dynamical systems using backpropagation
	neural networks. The proposed architecture is compared with the other
	direct control schemes. In the present scheme, the neural network
	interconnection strengths are updated based on the output error of
	the dynamical system directly, rather than using a transformed version
	of the error employed in other schemes. The ill effects of the 
	controlled dynamics on the on-line updating of the network weights
	are moderated by including a compensating gain layer. An error feedback
	is introduced to improve the dynamic response of the control system.
	Simulation studies are performed using the nonlinear dynamics of an
	underwater vehicle and the promising results support the effectiveness 
	of the proposed scheme.

	
	-----------------------------------------

	The file at archive.cis.ohio-state.edu is

	 venugopal.css.ps.Z
	 (34 pages)

	to ftp the files:

	unix> ftp archive.cis.ohio-state.edu

	Name (archive.cis.ohio-state.edu:xxxxx): anonymous
	Password: your address

	ftp> cd pub/neuroprose
	ftp> binary
	ftp> get venugopal.css.ps.Z


	uncompress the file after transfering to your machine.
        
	unix> uncompress venugopal.css.ps.Z


	________________________________________________________________

	K. P. Venugopal
	Medical Image Processing Group
	University of Pennsylvania
	423 Blockley Hall
	Philadelphia, PA 19104   	   (venu at pixel.mipg.upenn.edu)