摘要
提出了基于连续比例因子的梯度投影算法.利用模糊推理规则动态求解多性能指标融合中的权系数,并对卫星在轨自维护系统的冗余度机器人推拉帆板作业进行了数值仿真计算.将所得到的结果与采用固定比例因子的梯度投影算法进行比较,指出了固定比例因子方法存在的不足之处,并通过仿真分析验证了连续比例因子算法的有效性.
The gradient projection method based on continuous scale factor is presented. The weight factors of multiple performance criteria are obtained based on fuzzy inference system, and a numerical simulation on a redundant robot of the satellite on-orbit self-servicing system for pushing the solar array task is carried out. The results are compared with the ones based on fixed scale factors, and the shortcoming of the latter is pointed out, The simulation analysis shows the effectiveness of the proposed continuous scale factor algorithm.
出处
《控制与决策》
EI
CSCD
北大核心
2007年第12期1433-1436,1440,共5页
Control and Decision
基金
国防科工委预研项目
长江学者和创新团队发展计划项目
关键词
连续比例因子
梯度投影法
冗余度机器人
模糊推理
Continuous scale factor
Gradient proiection method
Redundant manipulator
Fuzzy inference
