摘要
研究了将模糊CMAC神经网络和最优控制方法Hkamilton-Jacobi-Bellman(H-J-B)相结合来实现三连杆机械臂的最优控制策略。介绍了模糊CMAC神经网络的基本结构,基于二次最优控制信号的模糊CMAC控制器设计,推导了基于Lyapunov稳定性分析理论的神经网络自适应学习算法,并通过一个鲁棒化向量来克服系统模型中不确定项的影响,保证系统的稳定性。
In this paper, fuzzy CMAC neural network is compound with the optimal control method （H -J - B） to realize the the optimal control strategy of three - link manipulator. It introduces the basic structure of fuzzy CMAC neural network and the design of fuzzy CMAC neural network controller based on quadratic optimal control signals,deduces a neural network adaptive algorithm in terms of Lyapunov theory,designs an optimal control method of three- link manipulator,and hurdle the effect of uncertainty in the system model through a robust vector,to guarantee the system＇s stability.
出处
《现代电子技术》
2007年第11期98-99,102,共3页
Modern Electronics Technique
