摘要
本文将专家系统技术和模型参考自适应控制相结合，提出了一种新的基于专家系统模型参考自适应控制（ＭＲＡＣＥＳ）．该系统集智能控制思想与专家技术于一身，从而得到很强的控制律。为验证其有效性，以两关节机器人为对象进行仿真，在有负载扰动情况下，该系统能使机器人跟踪上希望轨迹，其系统响应和鲁棒性优于常规的控制算法。
In!theis paper,a model reference adaptive control based on expert system(MRACES)via the integration of a model reference adaptive control and an expert system is discussed. The internal structure and the control lawn devcloped for this purpose are described.A simulation(a two degree-of-freedom robot as the contrOled object)was done to testify efficiency and feasibility of the presented approach.The silnulation results show that the proposed approach gives more significant performance and robustness than conven-tional approacbes.
出处
《信息与控制》
CSCD
北大核心
1994年第2期86-93,共8页
Information and Control
关键词
专家系统
自适应控制
模型
intelligent control,expert system,adaptive control
