一种基于逆动力学模糊规则的自适应控制方法  

Adaptive Control Method Based on Fuzzy Rules for Inverse Dynamics

作　　者：王广军[1] 朱丽娜[1] 沈曙光[1] 

机构地区：[1]重庆大学动力工程学院,重庆400044

出　　处：《系统仿真学报》2008年第15期3907-3910,共4页Journal of System Simulation

基　　金：国家自然科学基金项目(50476041;50776103)

摘　　要：将模糊控制规则归结为控制对象的逆动力学过程模糊辨识问题,提出了一种基于逆动力学过程模糊规则模型的控制算法,通过控制对象逆动力学过程模糊规则模型离线辨识,直接产生形成与控制对象运动规律相适应的初始控制规则,并根据对象逆动力学过程模糊规则模型在线辨识结果,对控制规则进行在线调整。仿真结果表明,所设计的模糊控制器具有良好的控制效果与适应性。Fuzzy control rules were concluded as fuzzy identification of inverse dynamics of control process, and a control algorithm based on fuzzy rules model for inverse dynamics was proposed. The initial control rules which were adaptive to the law of movement of control object could be directly acquired through the off-line identification of the fuzzy rules model of inverse dynamics of control object. And the control rules were adjusted in terms of the results of on-line identification of fuzzy rules model of inverse dynamics. The simulation results show that the fuzzy controller designed has good control effect and adaptability.

关 键 词：逆动力学 模糊规则 在线辨识 自适应控制 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]