| 二级倒立摆的TS型逐级模糊神经网络控制 |
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| 引用本文： | 朱学峰,周文彬,陈华艳. 二级倒立摆的TS型逐级模糊神经网络控制[J]. 华南理工大学学报(自然科学版), 2005, 33(2): 43-47 |
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| 作者姓名： | 朱学峰 周文彬 陈华艳 |
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| 作者单位： | 华南理工大学,自动化科学与工程学院,广东,广州,510940;华南理工大学,自动化科学与工程学院,广东,广州,510940;华南理工大学,自动化科学与工程学院,广东,广州,510940 |
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| 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。
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| 关 键 词： | 逐级控制 倒立摆 Takagi-Sugeno型模糊逻辑 神经网络控制 |
| 文章编号： | 1000-565X(2005)02-0043-05 |
| 修稿时间： | 2004-05-14 |
Control of the Double-Link Inverted Pendulum by Using Takagi-Sugeno Model Based on Gradual Fuzzy Neural Network |
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| Zhu Xue-feng,ZHOU Wen-bin,Chen Hua-yan. Control of the Double-Link Inverted Pendulum by Using Takagi-Sugeno Model Based on Gradual Fuzzy Neural Network[J]. Journal of South China University of Technology(Natural Science Edition), 2005, 33(2): 43-47 |
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| Authors: | Zhu Xue-feng ZHOU Wen-bin Chen Hua-yan |
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| Abstract: | 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. |
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| Keywords: | gradual control inverted pendulum Takagi-Sugeno fuzzy logic neural network control |
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