| RBF-ARX模型在倒立摆系统建模中的应用 |
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| 引用本文： | 彭辉,廖娟娟.RBF-ARX模型在倒立摆系统建模中的应用[J].控制工程,2008,15(5). |
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| 作者姓名： | 彭辉 廖娟娟 |
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| 作者单位： | 中南大学,信息科学与工程学院,湖南,长沙,410083 |
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| 摘 要： | 针对直线一级倒立摆控制系统的非线性特性,采用RBF-ARX模型对倒立摆系统的全局非线性动态特性进行建模.讨论了RBF-ARX模型结构的选取,模型参数辨识,RBF参数优化等问题.并且分别比较了该倒立摆系统的RBF-ARX模型与全局线性ARX模型,以及将RBF-ARX在某一工作点局部线性化后的模型与局部线性ARX模型的预测输出和模型误差,验证了RBF-ARX模型在倒立摆系统建模和辨识中的有效性.
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| 关 键 词： | 倒立摆 非线性系统 RBF-ARX模型 |
Modeling of Inverted Pendulum System Using RBF-ARX Model |
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| PENG Hui,LIAO Juan-juan.Modeling of Inverted Pendulum System Using RBF-ARX Model[J].Control Engineering of China,2008,15(5). |
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| Authors: | PENG Hui LIAO Juan-juan |
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| Abstract: | The RBF-ARX model is used to build the global model of the single inverted pendulum system for representing the nonlinear dynamics.The problems of the design of the structure,identification and parameter optimization of RBF-ARX model are discussed.The predictive outputs and modeling errors between the RBF-ARX model and the global linear ARX model,as well as between a local model from estimated RBFARX model and a local linear ARX model of the inverted pendulum system are compared respectively.The results show the effectiveness of RBF-ARX model to the modeling of inverted pendulum systems. |
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| Keywords: | inverted pendulum nonlinear system RBF-ARX model |
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