[1]顾洲,朱建忠.基于高斯基的广义CMAC在机器人轨迹跟踪控制中的应用[J].南京师范大学学报(工程技术版),2007,07(03):017-20.
 Gu Zhou,Zhu Jianzong.General CMAC Model for Gaussian Functions’ Controller and its Application on Robotic Tracking Control[J].Journal of Nanjing Normal University(Engineering and Technology),2007,07(03):017-20.
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基于高斯基的广义CMAC在机器人轨迹跟踪控制中的应用
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南京师范大学学报(工程技术版)[ISSN:1006-6977/CN:61-1281/TN]

卷:
07卷
期数:
2007年03期
页码:
017-20
栏目:
出版日期:
2007-09-30

文章信息/Info

Title:
General CMAC Model for Gaussian Functions’ Controller and its Application on Robotic Tracking Control
作者:
顾洲;朱建忠;
1. 南京师范大学动力工程学院, 江苏南京210042; 2. 上海大屯能源股份有限公司发电厂, 江苏徐州221618
Author(s):
Gu ZhouZhu Jianzong
1.School of Power Engineering,Nanjing Normal University,Nanjing 210042,China;2.Datun Coal and Electricity Company,Xuzhou 221618,China
关键词:
高斯基函数 广义小脑模型 机器人
Keywords:
Gauss basis function genera l ce rebe llar model articu lation contro ller( CMAC ) robot
分类号:
TP242
摘要:
介绍了基于高斯基的广义小脑模型关节控制器(CMAC)的快速算法,实现CMAC学习速率的自适应模糊调整,使其能根据控制系统的动态特性优化CMAC的学习控制,以适应控制系统工况的变化和不确定因素的干扰,并把它与自适应神经元PID控制器相结合实现前馈反馈复合控制,避免了控制器的输出产生振荡或进入饱和状态,增强了系统的鲁棒性.仿真结果表明:这种控制方案能够准确的实现系统的高精度实时位置跟踪和力的控制.
Abstract:
Fast-algor ithm o f general cerebe llar mode l articulation contro ller( CMAC) based on Gauss ian functions is introduced, and the lea rning-ra te o f CMAC is adjusted using fuzzy algor ithm so that it can be adapted to the change o f the dynam ic feature o f the contro l system. It is a lso app lied on robotic tog etherw ith adaptive PID, so the con tro l strat-egy can avo id contro ller‘ s output produc ing surge o r en tering saturation cond ition and it enhances the robust of the system. S imu lation results show: the presented m e thod can improv e the system s’ robust and real tim e perform ance.

参考文献/References:

[ 1] 魏立新, 李二超, 王洪瑞. 基于CMAC 在线自学习模糊自适应的机器人力/位置鲁棒控制[ J] . 电工技术学报, 2005, 20( 5): 40-43.
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备注/Memo

备注/Memo:
作者简介: 顾  洲( 1973-) , 讲师, 主要从事神经网络控制等方面的教学与研究. E-m ail:gu zhouok@ yahoo. com. cn
更新日期/Last Update: 2013-06-04