A comparison between HMLP and HRBF for attitude control.

In this paper the problem of controlling the attitude of a rigid body, such as a Spacecraft, in three-dimensional space is approached by introducing two new control strategies developed in hypercomplex algebra. The proposed approaches are based on two parallel controllers, both derived in quaternion algebra. The first is a feedback controller of the proportional derivative (PD) type, while the second is a feedforward controller, which is implemented either by means of a hypercomplex multilayer perceptron (HMLP) neural network or by means of a hypercomplex radial basis function (HRBF) neural network. Several simulations show the performance of the two approaches. The results are also compared with a classical PD controller and with an adaptive controller, showing the improvements obtained by using neural networks, especially when an external disturbance acts on the rigid body. In particular the HMLP network gave better results when considering trajectories not presented during the learning phase.

Multilayer Perceptrons to Approximate Quaternion Valued Functions.

In this paper a new type of multilayer feedforward neural network is introduced. Such a structure, called hypercomplex multilayer perceptron (HMLP), is developed in quaternion algebra and allows quaternionic input and output signals to be dealt with, requiring a lower number of neurons than the real MLP, thus providing a reduced computational complexity. The structure introduced represents a generalization of the multilayer perceptron in the complex space (CMLP) reported in the literature. The fundamental result reported in the paper is a new density theorem which makes HMLPs universal interpolators of quaternion valued continuous functions. Moreover the proof of the density theorem can be restricted in order to formulate a density theorem in the complex space. Due to the identity between the quaternion and the four-dimensional real space, such a structure is also useful to approximate multidimensional real valued functions with a lower number of real parameters, decreasing the probability of being trapped in local minima during the learning phase. A numerical example is also reported in order to show the efficiency of the proposed structure. Copyright 1997 Elsevier Science Ltd. All Rights Reserved.

Multilayer perceptrons to approximate complex valued functions.

In this paper the approximation capabilities of different structures of complex feedforward neural networks, reported in the literature, have been theoretically analyzed. In particular a new density theorem for Complex Multilayer Perceptrons with complex valued non-analytical sigmoidal activation functions has been proven. Such a result makes Multilayer Perceptrons with complex valued neurons universal interpolators of continuous complex valued functions. Moreover the approximation properties of superpositions of analytic activation functions have been investigated, proving that such combinations are not dense in the set of continuous complex valued functions. Several numerical examples have also been reported in order to show the advantages introduced by Complex Multilayer Perceptrons in terms of computational complexity with respect to the classical real MLP.