三级倒立摆的T-S型前馈补偿模糊神经网络控制  

Control of Triple Inverted Pendulum by Using Fuzzy Neural Network Combined with Feedforward Based on T-S Model

作　　者：张秀玲[1,2] 田力勇[1,2] 张少宇[1,2] 

机构地区：[1]燕山大学电气工程学院,河北秦皇岛066004 [2]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

出　　处：《模糊系统与数学》2011年第4期129-136,共8页Fuzzy Systems and Mathematics

基　　金：国家自然科学基金资助项目(50675186)

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。A control strategy of the triple inverted pendulum based on a luzzy neural network ann Feedforward Compensation was constructed to solve the rule number explosion in multi-variable systems. This control strategy is applicable to the muhi-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.

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 

分 类 号：TP183[自动化与计算机技术—控制理论与控制工程]