间歇生产过程的R调节学习控制

针对间歇生产过程迭代学习控制难以进行跟踪性能分析的难题,本文提出一种变R调节迭代学习控制算法,借鉴经典控制理论定义有界跟踪和零跟踪概念.以此研究能够让系统输出误差达到零跟踪的迭代学习控制策略,并严格地证明了算法的性能,得出可以通过调节权值R使过程产品质量的误差收敛到与模型精度相关联的有界区域的结论,为相关理论结果实施于实际间歇过程提供了理论依据.     

智能PID控制器及其自学习

本文对具有自学习功能的智能PID控制器进行了研究，控制器采用智能PID控制，通过对PID控制的控制结果的有效的性能评价，得出PID控制顺输出的应修正的量值，并以优化的原则，将该量值合理地分配到P.I.D的三个参数上去，从而达到系统在运行过程中自动调整和学习P.I.D参数的目的。     

非线性系统的神经网络学习控制

主要控制了一类非线性系统的神经网络学习控制问题。讨论了以迭代学习方式训练的神经网络学习控制器，在满足一定条件，可以实现一定时间内的系统输出跟踪。     

基于神经网络的强化学习算法实现倒立摆控制

运用强化学习的方法来对连续的倒立摆系统实现平衡控制是一直以来有待解决的问题。该文将Q学习与神经网络中的BP网络、S激活函数相结合，利用神经网络的泛化性能，设计出一种新的学习控制策略，通过迭代和学习过程，不但能够解决倒立摆系统连续状态空间的输入问题，还成功解决了输出连续动作空间的问题。将此方法运用于连续倒立摆系统的平衡控制中，经过基于实际控制模型的Matlab软件仿真实验，结果显示了这个方法的可行性。该方法进一步提高了强化学习理论在实际控制系统中的应用价值。     

基于Q-学习的底盘测功机自适应PID控制模型

为了解决汽车底盘测功机控制系统在动态控制时出现延迟较高和误差大的问题,提出了一种基于强化学习的底盘测功机控制策略。以PID控制算法为基础,扭力偏差为控制器输入,调节电压控制量为输出,选择扭力差变化为智能体奖惩的学习策略,通过Q学习算法对PID参数进行在线自适应整定;在底盘测功机仿真试验中验证了控制器的调控性能,并与传统PID控制以及神经网络PID控制的结果进行了对比;实验结果表明,基于Q学习的自适应PID控制模型较传统PID算法控制周期缩减至40.7%,相较于神经网络PID算法控制周期缩短至27.9%。相对于传统PID控制模型与神经网络PID模型,基于Q学习的自适应PID控制模型输出力上升过程稳定且快速。提出的基于Q学习的自适应PID控制模型能够有效提升底盘测功机控制精度,满足其使用的工业要求。     

一种模糊学习控制方法及其在多指手爪位置伺服系统中的应用

本文针对重复抓取与操作的多指手爪，提出了一种模糊学习控制方法，该方法利用先前的控制误差，逐步地修正不完善的控制规则，使系统的实际输出收敛于给定的轨迹，本文还给出了这种方法的收敛性条件，并应用于多指手爪的位置伺服系统中，改善控制性能，达到了预期的控制效果。     

即时学习算法在非线性系统迭代学习控制中的应用

运用即时学习算法来解决一类非线性系统的迭代学习控制初值问题。对于任何类型的迭代学习控制算法，即时学习算法都能有效地估计初始控制量，减小了初始输出误差，加快了算法的收敛速度，使得经过有限次迭代后系统输出能严格跟踪理想信号。对机器人系统的仿真结果表明了该方法的有效性。     

基于强化学习补偿器的水下航行器姿态控制

自主式无人水下航行器(AUV)的动力学模型是一个多输入多输出、欠驱动强耦合的非线性系统,同时AUV的工作环境复杂多变,因此,对其姿态进行高精度控制是一个挑战。针对上述问题,本文提出了一个基于强化学习补偿器的AUV姿态控制方法,通过对历史经验数据的学习,实现在野外航行过程中抵抗未建模的不确定扰动和逐步提升姿态控制性能。主要贡献：(1)融合经典控制器和强化学习补偿器,通过经典控制器保障强化学习补偿器在训练过程中的系统稳定,通过训练好的强化学习补偿器抵抗不确定扰动和提升最终性能;(2)改进了传统的二次型的强化学习奖励函数,提升了训练速度和最终控制性能;(3)通过仿真验证了在神经网络权值随机初始化的条件下,本文设计的强化补偿控制器经过训练后可以收敛到稳定一致的性能。     

非线性离散系统的迭代学习控制方法及其应用*

本文根据误差收敛准则，提出了非线性离散系统的迭代学习算法，给出了ＰＩＤ型学习控制的收敛条件，并证明了ＰＩＤ型学习控制对预定轨线的逼近特性，在交流变频电机起动过程控制中应用表明，使用本文方法可以得到实用的结果。     

迭代学习控制系统的鲁棒收敛性分析

本文提出一种开闭环配合的滤波器型迭代学习控制算法，并将这种算法应用于一般非线性动态系统的轨迹跟踪，对于渐近重复初始条件和渐近周期干扰的情形，通过控制误差估计和输出误差估计，文中分别证明学习过程的一致收敛性，证明中未采用线性化手段。     

应用单层神经网络设计多变量自适应模糊控制器

提出一种应用单层神经网络设计多变量自适应模糊控制器的方法。应用单层神经网络可以学习多变量模糊控制规则中的未知参数，还可由它来实现多变量模糊推理过程。该方法能解决多变量模糊控制中普遍存在的规则获取困难和难于实现实时自适应等问题。仿真试验表明，所设计的多变量模糊控制器不仅实时性好，而且可得到满意的控制效果。     

自适应模糊神经网络研究

模糊神经网络提供了从人工神经网络中模糊规则的抽取。本文研究模糊神经网络的自适应学习，规则插入和抽取及神经－模糊推理的FuNN模型，把遗传算法作为系统模糊规则选择的自适应策略之一。     

A fuzzy neural network based on fuzzy hierarchy error approach

This paper presents a novel fuzzy neural network which consists of an antecedent network and a consequent network. The antecedent network matches the premises of the fuzzy rules and the consequent network implements the consequences of the rules. In the network learning and training phase, a concise and effective algorithm based on the fuzzy hierarchy error approach is proposed to update the parameters of the network. This algorithm is simple to implement and it does not require as many calculations as some other classic neural network learning algorithms. A model reference adaptive control structure incorporating the proposed fuzzy neural network is studied. Simulation results of a cart-pole balancing system demonstrate the effectiveness of the proposed method     

一种基于Rough Sets和模糊神经网络的规则获取的方法

该文提出了一种基于RoughSets思想获取初始规则,并通过模糊神经网络优化,最后再进行简化获取模糊规则,及模糊系统参数学习的方法。并通过实例进行了自动列车运行系统仿真。文中还基于上述实例,将这种基于模糊神经网络的学习与控制方法与标准的BP网络和基本的模糊系统方法进行了比较,并总结了这种方法的特点。结论表明,该文所提出的模糊规则生成和模糊系统学习方法是行之有效的。     

自适应神经元模糊控制系统的研究

由于噪音、负载扰动等环境条件的变化,过程控制参数及模型结构往往会发生变化。为了提高控制器的性能,通过自适应神经元学习来修改模糊控制规则的控制方法。它通过总结过去控制规则的控制性能,对当前的控制规则进行调整,使之适应环境的变化,改善当前过程控制的输出。经仿真与实际检验,效果良好。     

A self-learning fuzzy logic controller using genetic algorithmswith reinforcements

This paper presents a new method for learning a fuzzy logic controller automatically. A reinforcement learning technique is applied to a multilayer neural network model of a fuzzy logic controller. The proposed self-learning fuzzy logic control that uses the genetic algorithm through reinforcement learning architecture, called a genetic reinforcement fuzzy logic controller, can also learn fuzzy logic control rules even when only weak information such as a binary target of “success” or “failure” signal is available. In this paper, the adaptive heuristic critic algorithm of Barto et al. (1987) is extended to include a priori control knowledge of human operators. It is shown that the system can solve more concretely a fairly difficult control learning problem. Also demonstrated is the feasibility of the method when applied to a cart-pole balancing problem via digital simulations     

Self-organizing adaptive fuzzy neural control for the synchronization of uncertain chaotic systems with random-varying parameters

This paper proposes a self-organizing adaptive fuzzy neural control (SAFNC) for the synchronization of uncertain chaotic systems with random-varying parameters. The proposed SAFNC system is composed of a computation controller and a robust controller. The computation controller containing a self-organizing fuzzy neural network (SOFNN) identifier is the principle controller. The SOFNN identifier is used to online estimate the compound uncertainties with the structure and parameter learning phases of fuzzy neural network (FNN), simultaneously. The structure-learning phase consists of the growing of membership functions, the splitting of fuzzy rules and the pruning of fuzzy rules, and thus the SOFNN identifier can avoid the time-consuming trial-and-error tuning procedure for determining the network structure of fuzzy neural network. The robust controller is used to attenuate the effects of the approximation error so that the synchronization of chaotic systems is achieved.All the parameter learning algorithms are derived based on the Lyapunov stability theorem to ensure network convergence as well as stable synchronization performance. To demonstrate the effectiveness of the proposed method, simulation results are illustrated in this paper.     

An adaptive fuzzy neural network for MIMO system modelapproximation in high-dimensional spaces

An adaptive fuzzy system implemented within the framework of neural network is proposed. The integration of the fuzzy system into a neural network enables the new fuzzy system to have learning and adaptive capabilities. The proposed fuzzy neural network can locate its rules and optimize its membership functions by competitive learning, Kalman filter algorithm and extended Kalman filter algorithms. A key feature of the new architecture is that a high dimensional fuzzy system can be implemented with fewer number of rules than the Takagi-Sugeno fuzzy systems. A number of simulations are presented to demonstrate the performance of the proposed system including modeling nonlinear function, operator's control of chemical plant, stock prices and bioreactor (multioutput dynamical system).     

脉冲GTAW熔池动态过程模糊神经网络建模与控制

展示了模糊推理与神经网络结合在脉冲GTAW熔池动态过程智能控制中的应用研究 结果.建立了脉冲GTAW平板对接动态过程特征:正反面熔池的最大宽度、长度与面积等参数 的神经网络模型,基于实验数据采用模糊辨识方法提取焊接过程的模糊控制规则,进而设计了 具有自学习适应能力的模糊神经网络控制器.建立了脉冲GTAW熔池动态过程智能控制系统, 焊接实验验证了所设计的模糊神经网络控制器具有智能控制效果.     

Fuzzy rule generation for adaptive scheduling in a dynamic manufacturing environment

This paper proposes a fuzzy rule-based system for an adaptive scheduling, which dynamically selects and applies the most suitable strategy according to the current state of the scheduling environment. The adaptive scheduling problem is generally considered as a classification task since the performance of the adaptive scheduling system depends on the effectiveness of the mapping knowledge between system states and the best rules for the states. A rule base for this mapping is built and evolved by the proposed fuzzy dynamic learning classifier based on the training data cumulated by a simulation method. Distributed fuzzy sets approach, which uses multiple fuzzy numbers simultaneously, is adopted to recognize the system states. The developed fuzzy rules may readily be interpreted, adopted and, when necessary, modified by human experts. An application of the proposed method to a job-dispatching problem in a hypothetical flexible manufacturing system (FMS) shows that the method can develop more effective and robust rules than the traditional job-dispatching rules and a neural network approach.