Design And Realization Of Generic Intelligent Embedded Controller Based On ADP

In the domain of Artificial intelligence, machine learning is one of the best methods which can demonstrate intelligent capability. With the advance of relevant research, people find the best intelligent learning strategy lies in human beings-itself. so a variety of methods which imitate human learning are introduced to solve complex optimization problems. There are neural networks, genetic algorithms and so on. The newest research from cognitive neuroscience indicates that the brain's two most essential features are optimization and forecasting. Based on these two core features, Werbos proposed adaptive dynamic programming (ADP). It is a promising intelligent method which can learn knowledge on the fly even there is not a reference model available a priori.The current embedded technology has penetrated into every aspect of people's lives, especially in the control area, the embedded technology plays a more important role. Combining adaptive dynamic programming with embedded technologies to design a generic intelligent controller that does not depend on the model and can online learning, which through a simple environment interaction and learning to achieve optimal operation, a bright future. Main work completed as follows:(1) Understanding and analysis adaptive dynamic programming theory and embedded theory to lay a solid theoretical basis for designing and implementation of generic intelligent controller.(2) Improve the Actor-Critic structure's ADHDP algorithm at the core to use C language to design and implement the main program of the generic intelligent controller. Meanwhile design a shared memory driver to transmit dynamic data between the process of main program and the process of QT human-machine interface program. Finally, compile and debug to transplant the whole application program into mini2440 development board.(3) Transplant the operating system of Linux into mini2440 development board successfully, use a typical inverted pendulum of nonlinear unstable equilibrium point as a controlled object which is controlled with designing generic intelligent controller, simulation experiments and results achieve the desired effect.The main innovation is:Combine adaptive dynamic programming with embedded technologies is to design a generic intelligent controller which has the ability to learn quickly.