| 一类欠驱动机械系统基于神经网络的控制 |
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| 引用本文： | 谢衡,牛秦洲.一类欠驱动机械系统基于神经网络的控制[J].科学技术与工程,2009,9(7). |
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| 作者姓名： | 谢衡 牛秦洲 |
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| 作者单位： | 桂林工学院,桂林,541004 |
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| 摘 要： | 运用神经网络设计体操机器人欠驱动机械系统的平衡控制器.首先利用联立约束法和矢量环对两关节体操机器人进行数学建模,然后用反馈线性化理论将这个非线性系统线性化,最后结合神经网络来设计平衡控制器.仿真结果表明,神经网络控制可以有效地使系统在垂直向上位置附近到达平衡稳定状态,从而实现了此类欠驱动系统基于神经网络的控制.
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| 关 键 词： | 双关节体操机器人 联立约束法 神经网络 反馈线性化 |
Variable Structure Control Based on Neural Network for a Class of Underactuacted Mechanical System |
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| XIE Heng,NIU Qin-zhou.Variable Structure Control Based on Neural Network for a Class of Underactuacted Mechanical System[J].Science Technology and Engineering,2009,9(7). |
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| Authors: | XIE Heng NIU Qin-zhou |
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| Institution: | Guilin University of Technology;Guilin 541004;P.R.China |
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| Abstract: | Neural network control is applied to the design of banlance control for Acrobot system.First,using simultaneous binding law and vector central for Acrobot system bulids the mathematical model.Then developed the linear feedback theory makes its system linearized.Finally,the design of neural network balance controller for Acrobot is applied.Simulation results showed that the linear feedback theory of the neutral network would keep the Acrobot system asymptotically stable in the neighorbood of up-vertical,thus... |
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| Keywords: | Acrobot simultaneous binding law neural network linear feedback theory |
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