Mathematical model of an artificial neural network for controlling a robotic transport system during emergency rescue operations at energy facilities of the Penal System

Abstract

The paper investigates a mathematical model of an artificial neural network with a delay in the arguments of the state and control functions, designed to control a robotic system during rescue operations at the facilities of the energy complex. The learning process of the considered artificial neural network is described by the problem of optimal control with delay. Using the Pontryagin maximum principle and the method of fast automatic differentiation, a method for solving the obtained optimal control problem has been developed. The results of the software tool operation, which was created using the algorithm for constructing an approximate optimal control of the problem under consideration, are presented.