| 一种基于模糊神经网络的机器人轨迹跟踪控制 |
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| 引用本文： | 王波,梁案伟,冯德存,成曦.一种基于模糊神经网络的机器人轨迹跟踪控制[J].齐齐哈尔轻工业学院学报,2010(4):1-5. |
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| 作者姓名： | 王波 梁案伟 冯德存 成曦 |
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| 作者单位： | 中国石油大学数理系,北京102249 |
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| 摘 要： | 提出一种模糊神经网络,并将其应用于两关节机械手轨迹跟踪控制。该网络采用三角形隶属度函数,将模糊控制与神经网络相结合,利用神经网络实现模糊推理。这种模糊神经网络能够在线调节输出隶属度函数中心以及关节间耦合权值,使得控制器具有更好的学习与自适应能力。仿真结果表明,这种网络能很好的用于机器人的轨迹跟踪控制中,是一种行之有效的控制方法。
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| 关 键 词： | 模糊神经网络 三角形隶属度函数 两关节机械手 轨迹跟踪 |
A robot tracking control based on fuzzy neural network |
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| Authors: | WANG Bo LIANG Jing-wei FENG De-cun CHENG Xi |
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| Affiliation: | (Department of Mathematics and Physics,China University of Petroleum,Beijing 102249,China) |
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| Abstract: | A fuzzy neural network is proposed for two-link robot manipulator tracking control.This network uses triangle-shaped membership function,fuzzy control and neural network are combined,and fuzzy inference can be realized by neural network.The fuzzy neural network can adjust output membership function centers and coupling weights of each joint on line,so that the controller has better learning and adaptive ability.The results of simulation show that this network can control robot tracking perfectly,and this control method is effective. |
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| Keywords: | fuzzy neural network triangle-shaped membership function two-link robot manipulator tracking control |
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