机械臂的自适应径向基函数神经网络双二次泛函最优控制  

Adaptive radial basis function neural network bi-quadratic functional optimal control for manipulators

作　　者：廖列法[1] 杨翌虢 LIAO Lie-fa;YANG Yi-guo(School of Information Engineering,Jiangxi University of Science and Technology,Ganzhou Jiangxi 341000,China)

机构地区：[1]江西理工大学信息工程学院

出　　处：《控制理论与应用》2020年第1期47-58,共12页Control Theory & Applications

基　　金：国家自然科学基金项目(71462018,71761018)资助~~

摘　　要：针对非线性机械臂系统中难以权衡控制能量与控制误差比重的最优控制问题,本文提出一种基于自适应径向基函数(RBF)神经网络二阶段叠加优化的双二次泛函最优求解模型,实现在非线性机械臂控制系统中用不大的控制能量来保持较小的控制误差的综合最优控制.在本文所提模型中,首先设计一种线性误差函数,作用于非线性控制方程,并采用自适应RBF网络逼近非线性控制方程中存在的不确定项,构成闭环反馈系统,实现对非线性系统的最优控制;其次,将待求参数复合成双二次泛函的解域,并设计一种新型的类递归神经网络求解该带约束条件的双二次型模型,实现模型求解的快速收敛并得其解.通过理论分析及数值仿真实例验证了所提模型能有效提高非线性系统的控制精度、稳定性、鲁棒性及自适应性,从而实现非线性系统的综合最优控制.In this paper,a double quadratic optimal functional solution model based on neural network two-stage superposition optimization is proposed to solve the optimal control problem in non-linear manipulator systems where it is difficult to balance the control energy and the proportion of control errors.In the non-linear manipulator control system,the comprehensive optimal control is realized,which uses little control energy to keep the smaller control error.In the model proposed in this paper,firstly,a linear error function is designed to act on the non-linear governing equation,and the uncertainties in the non-linear governing equation are approximated by radial basis function(RBF)network adaptively to form a closed-loop feedback system to realize the optimal control of the non-linear system.Secondly,the parameters to be solved are combined into the solution domain of the bi-quadratic functional,and a new type of recursive neural network is designed to solve the bi-quadratic model with constraints,so as to realize the fast convergence and obtain the solution of the model.The results of theoretical analysis and numerical simulation show that the proposed model can effectively improve the control accuracy,stability,robustness and self-adaptability of the non-linear system,thus realizing the integrated optimal control of the non-linear system.

关 键 词：自适应控制 径向基函数网络 最优泛函 多关节机械臂 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置] TP183[自动化与计算机技术—控制科学与工程]