模糊B样条基神经网络及其在机器人轨迹跟踪中的应用

A FUZZY B-SPLINE BASIS NEURAL NETWORK AND ITS APPLICATION TO ROBOTIC TRACKING CONTROL

提出一种模糊神经网络控制器并用于机器人轨迹跟踪控制.这种模糊神经网络利用B样条基函数作为隶属函数,可在线根据误差调整隶属函数的形状,使模糊神经网络具有更强的学习和适应能力.仿真与实验结果表明这种网络能很好的用于机器人的轨迹跟踪控制,具有很好的性能.

A fuzzy neural network was proposed for robotic tracking control. This fuzzy neural network used the B-spline basis function as membership function whose shape can be adjusted on line. The proposed network has better learning and adaptive ability. The simulation results showed that the proposed network can be applied to robotic tracking very well with good performance.