直线二级倒立摆模糊算法的应用研究

针对我校智能控制实验室二级倒立摆控制规律单一的现状,对二级倒立摆控制规律进行二次开发.根据二级倒立摆多变量、非线性、强耦合、绝对不稳定的特性.本文采用两种模糊算法来实现二级倒立摆的仿真研究与实时控制.首先,提出了模糊最优控制算法,采用融合函数来解决因多变量的存在而产生的“规则爆炸问题”;其次,提出了分层模糊控制的思想,使系统更符合人类的思维逻辑,更容易控制.     

二级倒立摆的Sugeno型模糊神经网络控制

为了提高二级倒立摆系统实时控制的响应速度和稳定性,在设计Mamdani型模糊推理规则控制器控制倒立摆系统稳定的基础上,设计了一种更有效率的基于Sugeno型模糊推理规则的模糊神经网络控制器.该控制器使用BP神经网络和最小二乘法的混合算法进行参数训练.能够准确归纳输入输出量的模糊隶属度函数和模糊逻辑规则.通过与Mamdani型控制器的仿真对比及实际控制实验结果,表明该Sugeno型模糊神经网络控制器时二级倒立摆实验装置的控制具有良好的稳定性、快速性和较高的控制精度.     

基于T-S 模糊模型的3D 刚体摆姿态控制

3D 刚体摆的倒立平衡点附近具有不稳定的流形, 针对倒立平衡位置的姿态稳定性问题, 建立T-S 模糊模型, 并采用并行分布补偿(PDC) 法和线性矩阵不等式(LMI) 法探讨了闭环T-S 模糊控制系统的稳定性. 仿真实验表明, T-S 模糊控制对3D 刚体摆倒立平衡位置处的姿态控制是可行和有效的.

     

二级倒立摆的Sugeno型模糊神经网络控制

为了提高二级倒立摆系统实时控制的响应速度和稳定性,在设计Mamdani型模糊推理规则控制器控制倒立摆系统稳定的基础上,设计了一种更有效率的基于Sugeno型模糊推理规则的模糊神经网络控制器。该控制器使用BP神经网络和最小二乘法的混合算法进行参数训练,能够准确归纳输入输出量的模糊隶属度函数和模糊逻辑规则。通过与Mamdani型控制器的仿真对比及实际控制实验结果,表明该Sugeno型模糊神经网络控制器对二级倒立摆实验装置的控制具有良好的稳定性、快速性和较高的控制精度。     

单向S-区间值模糊粗糙集及应用

以Z.Pawlak粗集理论为基础,将动态区间值模糊近似概念引入区间值模糊粗糙集中。由此提出了单向S-区间值模糊粗糙集概念,给出了单向S-区间值模糊粗糙集的结构与性质。定义了单向S-区间值模糊粗糙集的粗相等、截集、粗糙度等概念,并对一些相关性质进行讨论和证明;给出了单向S-区间值模糊粗糙集的应用及存在价值。     

基于蕴涵的区间值直觉模糊粗糙集

提出一种基于区间值直觉模糊蕴涵的区间值直觉模糊粗糙集模型.首先,介绍了区间值直觉模糊集、区间值直觉模糊关系和区间值直觉模糊逻辑算子的概念;然后,利用区间值直觉模糊三角模和区间值直觉模糊蕴涵,在区间值直觉模糊近似空间中定义了区间值直觉模糊集的上近似和下近似;最后,给出并证明了这些近似算子的一些性质.     

基于LQR的二级倒立摆的变论域自适应模糊控制

针对传统模糊控制的不足,以二级倒立摆为例,采用了变论域自适应模糊控制理论.考虑到二级倒立摆为多变量系统,为了解决模糊控制器规则组合爆炸问题,利用LQR理论先设计出状态反馈器,再进行降维处理.最后利用变论域自适应模糊控制理论给出伸缩因子,从而得到变论域自适应模糊控制器.仿真结果表明,该方法控制效果好,鲁棒性强.     

基于LQR的平面二级倒立摆控制策略研究

本文对平面二级倒立摆运用分析动力学方法建立其数学模型,以LQR理论设计了平面倒立摆的最优控制器,在此基础上运用变量融合技术设计了参数自调整双模糊控制器,从而降低模糊控制器的输入变量维数,大大减少模糊控制的规则数,并研究了量化因子对控制效果的影响.应用所设计两种控制器进行系统仿真与实时控制实验,其结果证明两种控制器都能保证良好的控制精度,响应速度快,有良好的稳定性和鲁棒性。     

基于T—S模糊模型的LQR控制器设计

基于T-S模糊模型的平行分配补偿控制器设计方法,结合线性二次型最优控制方法,设计了一个倒立摆系统状态反馈控制器.控制方法有效地将线性系统理论与模糊控制理论结合起来,可处理某些复杂的非线性自不稳定系统控制问题.针对倒立摆是一个非线性、不稳定、强耦合系统,利用MATLAB对其进行仿真实验,结果表明上述方法能够控制倒立摆稳定.TS-LQR控制器结合了模糊控制和LQR方法的优点,具有结构简单、易于实现以及稳定范围大、鲁棒性好的优点,可获得较好的动态性能和稳态性能.     

基于模糊神经网络的倒立摆控制系统

在分析模糊控制、神经网络控制的基础上，根据倒立摆的特点，提出了模糊神经网络的控制结构。使用了遗传算法和BP算法相结合的方式来优化模糊神经网络，并以固高公司的倒立摆做实验，对实验结果进行了深入的研究和分析。     

Generalized interval-valued fuzzy variable precision rough sets determined by fuzzy logical operators

The fuzzy rough set model and interval-valued fuzzy rough set model have been introduced to handle databases with real values and interval values, respectively. Variable precision rough set was advanced by Ziarko to overcome the shortcomings of misclassification and/or perturbation in Pawlak rough sets. By combining fuzzy rough set and variable precision rough set, a variety of fuzzy variable precision rough sets were studied, which cannot only handle numerical data, but are also less sensitive to misclassification. However, fuzzy variable precision rough sets cannot effectively handle interval-valued data-sets. Research into interval-valued fuzzy rough sets for interval-valued fuzzy data-sets has commenced; however, variable precision problems have not been considered in interval-valued fuzzy rough sets and generalized interval-valued fuzzy rough sets based on fuzzy logical operators nor have interval-valued fuzzy sets been considered in variable precision rough sets and fuzzy variable precision rough sets. These current models are incapable of wide application, especially on misclassification and/or perturbation and on interval-valued fuzzy data-sets. In this paper, these models are generalized to a more integrative approach that not only considers interval-valued fuzzy sets, but also variable precision. First, we review generalized interval-valued fuzzy rough sets based on two fuzzy logical operators: interval-valued fuzzy triangular norms and interval-valued fuzzy residual implicators. Second, we propose generalized interval-valued fuzzy variable precision rough sets based on the above two fuzzy logical operators. Finally, we confirm that some existing models, including rough sets, fuzzy variable precision rough sets, interval-valued fuzzy rough sets, generalized fuzzy rough sets and generalized interval-valued fuzzy variable precision rough sets based on fuzzy logical operators, are special cases of the proposed models.     

[(I,J )]-区间直觉模糊粗糙集

利用吴伟志所定义的两个直觉模糊蕴涵算子[I ]和[J],把[(I,J )]-直觉模糊粗糙集的概念推广到区间直觉模糊集的情形,给出了区间直觉模糊近似空间的概念及[(I,J )]-区间直觉模糊粗糙集,研究了[(I,J )]-区间直觉模糊粗糙集的基本性质并推广了张植明等人提出的结论。     

Differential calculus of interval-valued q-rung orthopair fuzzy functions and their applications

The interval-valued q-rung orthopair fuzzy set (IVq-ROFS) provides an extension of Yager's q-rung orthopair fuzzy set (q-ROFS), where membership and nonmembership degrees are subsets of the closed interval $\left[0,1\right]$. In such a situation, it is more superior for decision makers to provide their judgments by intervals instead of crisp numbers due to the uncertainty and vagueness in real life. In this paper, we study the calculus theories of IVq-ROFS from the microscopic. In particular, we first introduce the elementary arithmetic of interval-valued q-rung orthopair fuzzy values (IVq-ROFVs), including addition, multiplication, and their inverse. They are the basis for analysis and calculation throughout the work. In addition, we discuss and prove in detail the operation properties and aggregation operators of IVq-ROFVs. Then, we introduce the concept of interval-valued q-rung orthopair fuzzy functions (IVq-ROFFs), which is the main research object of this paper. After that, we further discuss the continuity, derivatives and differentials of IVq-ROFFs. We also find that the derivatives of IVq-ROFFs are closely related to elasticity, which is an important concept in economics. Finally, we provide some application examples to verify the feasibility and effectiveness of the derived results.     

一种区间直觉模糊熵的构造方法

研究了区间直觉模糊熵。证明了三个直觉模糊熵公式的等价性。对直觉模糊熵公式进行推广,引入一个新的区间直觉模糊熵公式,该熵公式满足区间糊熵的公理化直觉模定义的4个条件。     

不完备区间值模糊信息系统的粗糙集理论

考虑到模糊信息系统的不完备性和信息值的不确定性,讨论了不完备区间值模糊信息系统的粗糙集理论,给出了粗糙近似算子的性质。研究了不完备区间值模糊信息系统上的知识发现,提出了基于不完备区间值决策表的决策规则和属性约简,最后给出算例。     

Incomplete interval-valued intuitionistic fuzzy preference relations

The aim of this paper is to investigate decision making problems with interval-valued intuitionistic fuzzy preference information, in which the preferences provided by the decision maker over alternatives are incomplete or uncertain. We define some new preference relations, including additive consistent incomplete interval-valued intuitionistic fuzzy preference relation, multiplicative consistent incomplete interval-valued intuitionistic fuzzy preference relation and acceptable incomplete interval-valued intuitionistic fuzzy preference relation. Based on the arithmetic average and the geometric mean, respectively, we give two procedures for extending the acceptable incomplete interval-valued intuitionistic fuzzy preference relations to the complete interval-valued intuitionistic fuzzy preference relations. Then, by using the interval-valued intuitionistic fuzzy averaging operator or the interval-valued intuitionistic fuzzy geometric operator, an approach is given to decision making based on the incomplete interval-valued intuitionistic fuzzy preference relation, and the developed approach is applied to a practical problem. It is worth pointing out that if the interval-valued intuitionistic fuzzy preference relation is reduced to the real-valued intuitionistic fuzzy preference relation, then all the above results are also reduced to the counterparts, which can be applied to solve the decision making problems with incomplete intuitionistic fuzzy preference information.     

区间直觉模糊粗糙集

将模糊粗糙集推广到区间直觉模糊粗糙集,基于区间直觉模糊等价关系和两个论域之间的一般区间直觉模糊关系,给出了区间直觉模糊粗糙集模型的不同形式,并讨论了一些相关性质。     

一种新的区间直觉模糊熵及其应用

提出了区间值直觉模糊集的区间直觉模糊交叉熵,这种交叉熵充分考虑了区间值直觉模糊集的隶属度,非隶属度以及犹豫度。给出一种区间值直觉模糊集的区间直觉模糊熵的公理化体系,并且基于直觉模糊交叉熵公式给出一种区间直觉模糊熵的具体测度公式。利用区间值直觉模糊集的加权相关系数,将提出的熵公式应用于解决属性权重完全未知的区间直觉模糊多属性决策问题。     

区间直觉模糊几何Bonferroni平均算子及其应用

研究了决策信息为区间直觉模糊数（IVIFN）且属性间存在相互关联的多属性群决策（MAGDM）问题,提出一种基于区间直觉模糊几何加权Bonferroni平均（IVIFGWBM）算子的决策方法。介绍了IVIFN的概念和运算法则,基于这些运算法则和几何Bonferroni平均（GBM）算子,定义了区间直觉模糊几何Bonferroni平均（IVIFGBM）算子和IVIFGWBM算子。研究了这些算子的一些性质,建立基于IVIFGWBM算子的MAGDM模型,结合排序方法进行决策。将该方法应用在一个MAGDM问题中,结果表明了该方法的有效性与可行性。