分层模糊控制器的解析表达式及自适应控制方法

Output expression of hierarchical fuzzy controller and its adaptive control method

为解决模糊多变量控制中的“维数灾”问题 ,提出了一种 4输入 1输出的分层模糊控制器 ,推导了它的解析表达式。依据分层模糊控制器的解析表达式 ,提出了其设计参数的模型参考自学习方法 ,其中参考模型选取典型二阶系统 ,用梯度法设计自学习律 ,在线学习分层模糊控制器的可调参数 ,以达到最优值。为检验所提出控制策略的有效性 ,将其应用到板球系统的轨迹跟踪问题 ,并进行了仿真实验。仿真实验结果表明 ,这种分层模糊控制器的可调参数少 ,学习算法收敛快 ,控制效果好 ,具有较强的实用性。

A hierarchical fuzzy controller with four inputs and one output is presented, in order to overcome the “curse of dimensionality” problem in the fuzzy multi -variable control. The output expression of the hierarchical fuzzy controller is derived according to the output expressions of our proposed typical fuzzy controllers with 4 inputs and 1 output. After that, a model reference adaptive control scheme is proposed to learn the tunable parameters of the hierarchical fuzzy controller. This scheme is applied to the ball and plate system. The simulation results show that the adaptive control scheme based on the hierarchical fuzzy controller is efficient and convergent very quickly, because of its advantage in less tunable parameters.