BP Network Control for Resource Allocation and QoS Ensurance in UAV Cloud

Algorithm 1

Algorithm of BP for self-tuning PID control.

(1) , initialize weight factor for each layer ; learning rate and inertial factor .

(2) Sample the actual ith HQ delay and get .

(3) Normalize and construct the training set for BP as (6).

(4) According to (5), (7), and (8), calculate the forward propagation of BP.

(5) The output of output layer is the adapted values of .

(6) Calculate the PID controller output as (4), which will be used for control loop.

(7) Calculate the performance index as (10).

(8) If or , stop the iteration; else, continue the loop.

(9) According to (13), refresh the weight factor for the output layer.

(10) According to (14), refresh the weight factor for the hidden layer.

(11) , go to step 2.