摘要
提出一种自适应模糊神经网络(FNN)监督控制方案。该方案在FNN控制器的基础上串联一个监督控制器,实现对系统的跟踪控制。监督控制器在FNN控制器不能维持系统稳定时发挥作用,从而确保了闭环系统的全局稳定性,且使系统具有良好的跟踪性能。并把此方案应用在机器人跟踪控制上。仿真结果表明了该控制方案的可行性。
An adaptive fuzzy-neural networks (FNN) controller with supervisory mode for a certain class of un- known nonlinear dynamical system is presented. A supervisory controller is appended into the FNN controller to jointly control the system. If the FNN controller cannot maintain the stability, the supervisory controller starts work- ing; on the other hand, if the FNN controller works well, the supervisory controller will be de-actived, which not only guarantees the global stability of the closed-loop system but also preserving the tracking performance. And this program is used in robot tracking control, Simulation results show the control scheme is easy to implement.
出处
《科学技术与工程》
北大核心
2012年第34期9377-9380,共4页
Science Technology and Engineering
基金
河北省教育厅青年基金项目(2011226)资助
关键词
模糊神经网络
监督控制
自适应控制
机器人跟踪控制
fuzzy-neural networks supervisory control adaptive control robot tracking control