| 三级倒立摆的T-S型前馈补偿模糊神经网络控制 |
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| 引用本文： | 张秀玲,田力勇,张少宇.三级倒立摆的T-S型前馈补偿模糊神经网络控制[J].模糊系统与数学,2011,25(4). |
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| 作者姓名： | 张秀玲 田力勇 张少宇 |
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| 作者单位： | 燕山大学电气工程学院,河北秦皇岛066004;燕山大学河北省工业计算机控制工程重点实验室,河北秦皇岛 066004 |
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| 基金项目： | 国家自然科学基金资助项目(50675186) |
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| 摘 要： | 为解决T akag i-Sugeno型模糊神经网络在控制多变量系统时的规则组合爆炸问题,提出一种误差前馈补偿的模糊神经网络控制方案,有效实现了三级倒立摆的稳定控制。该控制方案适用对状态变量可按性质和重要程度划分的多变量系统的控制,大大减少了模糊神经网络控制器的规则数,有利于利用专家的控制经验,具有良好的鲁棒性和非线性适应能力。
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| 关 键 词： | 三级倒立摆 Takagi-Sugeno型模糊逻辑 模糊神经网络 误差前馈补偿 |
Control of Triple Inverted Pendulum by Using Fuzzy Neural Network Combined with Feedforward Based on T-S Model |
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| ZHANG Xiu-ling,TIAN Li-yong,ZHANG Shao-yu.Control of Triple Inverted Pendulum by Using Fuzzy Neural Network Combined with Feedforward Based on T-S Model[J].Fuzzy Systems and Mathematics,2011,25(4). |
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| Authors: | ZHANG Xiu-ling TIAN Li-yong ZHANG Shao-yu |
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| Institution: | ZHANG Xiu-ling1,2,TIAN Li-yong1,ZHANG Shao-yu1,2(1.College of Electrical Engineering,Yanshan University,Qinhuangdao 066004,China,2.Key Lab of Industrial Computer Control Engineering of Hebei Province,China) |
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| Abstract: | A control strategy of the triple inverted pendulum based on a fuzzy neural network and Feedforward Compensation was constructed to solve the rule number explosion in multi-variable systems.This control strategy is applicable to the multi-variable system that its state variables can be distinguished between the kind and importance.It has not only reduced the rule numbers of fuzzy neural network sharply and made for use of expert experience,but also has good robustness and strong nonlinear adaptive ability. |
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| Keywords: | Triple Inverted Pendulum Takagi-Sugeno Fuzzy Logic Fuzzy Neural Network Feedforward Compensation |
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