| 模糊神经网络的二级倒立摆稳定控制分析 |
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| 引用本文： | 胡阳,王吉芳. 模糊神经网络的二级倒立摆稳定控制分析[J]. 北京机械工业学院学报, 2008, 23(4): 24-28 |
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| 作者姓名： | 胡阳 王吉芳 |
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| 作者单位： | 北京信息科技大学机电系统测控北京市重点实验室,北京100192 |
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| 基金项目： | 北京市教育委员会科技计划面上项目 |
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| 摘 要： | 在MATLAB环境下,针对二级倒立摆系统稳定控制问题,引入新的智能控制策略,该种方法采用BP算法与最小二乘（LSE）算法结合的混合算法对Takagi-Sugeno模糊模型中的前件及后件参数进行优化修正,在已获得的客观输入、输出样本集的基础上,提出一种基于自适应神经网络的模糊推理系统ANFIS来对倒立摆系统进行＂倒立＂控制。实时控制结果表明,所提出的控制方法是可行而且有效的。
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| 关 键 词： | 二级倒立摆 模糊神经网络 自适应神经模糊推理系统 实时稳定控制 |
Equilibrium control analysis of double-link inverted pendulum based on fuzzy-neural-network |
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| Affiliation: | HU Yang,WANG Ji-fang (Beijing Key Laboratory：Measurement and Control of Mechanical and Electrical System, Beijing Information Science and Technology University, Beijing 100192, China) |
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| Abstract: | Under the environment of MATLAB, aiming at equilibrium control problem of double-link inverted pendulum system, a new intelligent control strategy is introduced. A mixed arithmetic of BP and LSE arithmetic are used, in order to optimize and amend the front-part and later-part parameter of Takagi-Sugeno fuzzy model. Based on the objective input-output sample set acquired, a sort of self-adaptive neuro-fuzzy inference system is put forward for inverted control of inverted pendulum. The result of real- time equilibrium control shows this control method is available and effective. |
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| Keywords: | double-link inverted pendulum fuzzy-neural-network self-adaptive neuro-fuzzy inference system real-time equilibrium control |
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