| 基于LS-SVM非线性内模控制在焊缝跟踪中的运用 |
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| 引用本文： | 姜一达,王书军.基于LS-SVM非线性内模控制在焊缝跟踪中的运用[J].微型机与应用,2011,30(9):79-81. |
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| 作者姓名： | 姜一达 王书军 |
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| 作者单位： | 1. 洛阳师范学院物理与电子信息学院,河南洛阳,471022
2. 河南华润电力首阳山有限公司,河南洛阳,471000 |
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| 摘 要： | 针对单纯的模糊控制器在焊接机器人的焊缝跟踪中的控制精度欠佳、自适应性不强等问题,设计了一种新的用于焊缝跟踪的LS-SVM非线性内模控制器。通过样本数据建立系统固定的LS-SVM逆模型,与系统串联成精确的伪线性系统,对伪线性系统采用鲁棒性强的内模控制。仿真结果表明该方法具有很好的跟踪结果。
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| 关 键 词： | 非线性不确定系统 最小二乘支持向量机 逆系统方法 内模控制 |
Non-linear uncertain systems based on dynamic compensation inverse of LS-SVM internal model control |
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| Jiang Yida,Wang Shujun.Non-linear uncertain systems based on dynamic compensation inverse of LS-SVM internal model control[J].Microcomputer & its Applications,2011,30(9):79-81. |
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| Authors: | Jiang Yida Wang Shujun |
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| Affiliation: | Jiang Yida1,Wang Shujun2(1.College of Physics and Electronic Information,Luoyang Normal University,Luoyang 471022,China,2.Resources Power Henan Shouyangshan Co.Ltd,Luoyang 471000,China) |
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| Abstract: | For the non-linear uncertain systems and the traditional non-linear internal model control in the control deficiencies,this paper presents a Least Squares Support Vector Machines(LS-SVM) internal model control based on dynamic compensation inverse for nonlinear uncertain systems method.At the same time,in the introduction of LS-SVM to establish the inverse model,there will be Model Free Adaptive Control(MFAC) method as an additional controller.Both forward and backward models will be automatically modified ... |
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| Keywords: | non-linear uncertain systems least squares support vector machines inverse system method internal model control |
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