摘要
提出了一种逐级模糊神经网络控制法.该控制法通过采用Takagi Sugeno型模糊 神经网络控制器和逐级模糊控制规则,实现了二级倒立摆系统的稳定控制.模糊神经网络 控制器的参数采用遗传算法分4步进行优化.实验结果表明,采用逐级模糊神经网络控制 法,用20条模糊规则就可以实现二级倒立摆系统的稳定控制,并且控制效果佳,系统鲁棒 性强.
A new control method is proposed by using the gradual fuzzy neural network. In this method, the Takagi-Sugeno fuzzy neural network controller and gradual fuzzy control rules are adopted to stabilize the double-link inverted pendulum. Moreover, Genetic Algorithm is used to optimize the parameters of the Takagi-Sugeno fuzzy controller in 4 steps. Experimental results indicate that, only with 20 rules, the gradual fuzzy neural network controller can stabilize the double-link inverted pendulum with good effect and strong system robustness.
出处
《华南理工大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2005年第2期43-47,共5页
Journal of South China University of Technology(Natural Science Edition)
