摘要
回顾了自动控制理论与智能控制的过去和现在,讨论了它们存在的问题,提出基于物理模型的拟人智能控制。通过介绍一个成功的实例"平面运动单级倒立摆"的控制来阐明拟人智能控制的机理以及设计控制律的流程。对于复杂的非线性被控对象,只要知道其物理模型,应用拟人智能控制方法可以得到很好的结果。
Based on the review of traditional control theories and some intelligent control theories, their limitations are discussed, then the human-imitating intelligent control method is presented which is based on the physical model. The mechanism of this method is explained and the procedure of designing the human-imitating control law is introduced through its successful application to stabilizing the two-degree-of-freedom single inverted pendulum. As for the complicated nonlinear objects, applying this human-imitating intelligent control method can achieve satisfactory results as long as the object's physical model is available.
出处
《航空学报》
EI
CAS
CSCD
北大核心
2004年第2期148-152,共5页
Acta Aeronautica et Astronautica Sinica
基金
国家自然科学基金(60074021)
教育部博士点基金(9722)资助项目
