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遗传算法在模糊系统优化设计中的应用研究 总被引:6,自引:0,他引:6
在模糊系统的变节点自适应模糊神经网络实现的基础上,提出一种混合GA优化算法。该算法采用混合编码策略,利用GA对模糊规则和隶属函数同时优化,而对结论参数则用最小二乘法估计。算法综合了GA强大空间搜索能力和传统优化方法的快速收敛和高精度的优点,在保证全局优化能力的条件下,综合考虑了模糊控制器的复杂程度、训练速度和控制精度。仿真结果及应用表明了该算法的有效性。 相似文献
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基于遗传算法的RLV再入轨迹优化设计 总被引:1,自引:0,他引:1
飞行器再入轨迹优化是一类最优控制问题。传统的优化方法存在初始值敏感问题。利用小生境技术和精英方法改进适应值共享拥挤遗传算法,并将其用于RLV再入轨迹优化设计。以终端时间固定的空间最小控制能量再入轨迹和终端时间自由的平面最小热载再入轨迹为例,详细讨论了遗传算法用于再入轨迹优化设计所需要解决的一些关键问题。仿真结果表明提出的方法能够较快地搜索到全局最优解,对初始猜测值不敏感,能够方便用于RLV的再入轨迹方案选择和优化设计。 相似文献
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一种移动机器人自适应轨迹跟踪控制算法研究 总被引:2,自引:0,他引:2
针对轮式移动机器人的轨迹跟踪问题,提出了一种基于运动学模型的自适应轨迹跟踪控制算法。在分析经典轨迹跟踪控制律缺点的基础上,算法中引入了机器人位姿误差的纵坐标误差以加速机器人的轨迹逼近速度,并采用人工场和位姿误差协同作用来共同完成机器人的导向控制。该控制律结构简单,鲁棒性强。仿真实验表明该方法使移动机器人具有更理想的逼近轨迹。 相似文献
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针对轨迹跟踪任务,阐述了机器人运动可靠性与末端定位精度的数学关系,分析了定位精度的影响因素,建立了面向轨迹跟踪任务的机器人运动可靠性通用模型。引入等效极值原则,将模型求解的多维积分问题转化为一维积分问题,实现了模型的简化求解。以八自由度模块化机器人为研究对象开展仿真研究,实现了典型轨迹跟踪任务的运动可靠性定量评估;在引入相同误差的情况下,深入分析了各因素对运动可靠性的影响情况,分析结果为轨迹跟踪任务的优化控制提供了理论依据。 相似文献
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研究灾难环境下翼伞空投机器人系统轨迹规划问题,基于简化的翼伞系统质点模型,采用混沌粒子群优化算法对翼伞系统归航轨迹进行寻优。该方法采用非均匀B样条技术实现最优控制规律的参数化,将翼伞系统轨迹规划的最优控制问题转换成参数优化问题,进而运用混沌粒子群优化算法进行寻优计算。轨迹规划的控制曲线是光滑的,利于电机对翼伞系统的操纵伞绳实施控制。仿真结果表明,该方法对翼伞系统的轨迹规划控制是有效的。 相似文献
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针对机器人这种具有时变、强耦合和不确定性的复杂非线性被控对象,提出一种基于在线聚类的模糊自适应方法用于机器人系统建模。建模过程中采用在线聚类算法辨识机器人T-S模型的前提参数,采用递推最小二乘算法(RLSE)辨识结论参数,根据过程中新的数据信息,模糊规则可以自动增加、修改和删除,实现了模型结构和参数的在线辨识和更新,而且该方法具有模型结构简单、建模速度快、精度高等优点。最后通过二自由度机器人仿真研究证明了该方法的有效性和优越性。 相似文献
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《系统工程理论与实践》2014,(5)
正August 10-14,2015Beijing,ChinaThe International Congress on Industrial and Applied Mathematics(ICIAM)is the premier international congress in the field of applied mathematics held every four years under the auspices of the International Council for Industrial and Applied Mathematics.From August 10 to 14,2015,mathematicians,scientists 相似文献
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《系统科学与系统工程学报(英文版)》2014,(2)
正AF:Any Field The School of Economics and Management at Tsinghua University(Tsinghua SEM)invites applications for faculty positions at all levels(Assistant Professor,Associate Professor and Full Professor)in any fields of business administration and management.Tsinghua SEM is the only school 相似文献
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The paper is about negotiating with issues that discourage innovation. The subject is environmental deterioration, with concern directed at the impediments that keep it from being innovatively resolved. The paper is organized around three issues. (1) The dominant model of environmental concern, called environmental protection, is managed predominantly via command and control approaches. (2) Command and control, by relying on analytical segmentation to subdivide the problem into digestible bits and using formal legislation to direct it, are not up to emerging challenges in the area. (3) More robust models are available but difficult to experiment with due to impediments that discourage change. These impediments are seen in ideals associated with protection, prevention, recycling, and sustainability that tend to do more to sustain harmful practices than to seek beneficial alternatives. Being able to appreciate the underlying restrictions of entropy could help stimulate a more innovative agenda. These issues are tested via a project funded by the EPA entitled ENERGY STAR Homes. 相似文献
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This paper presents an outline of an Oriental systems methodology: the Wuli Shili Renli approach (WSR). The basic theme of WSR contends that wuli (regularities in objective existence), shili (ways of seeing and doing), and renli (patterns underlying human relations) constitute a differentiated whole that conditions systems projects. WSR suggests that we should design and employ appropriate methods to address and tackle wuli shili and renli elements in a theoretically informed and systemic way. The background, philosophy, process, principles, and some practical applications of the methodology are preliminarily outlined. 相似文献
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