摘要
为解决模糊多变量控制中规则数随系统变量数呈指数增长的问题,针对机器人轨迹跟踪的特点,提出了一种分层模糊控制器的设计方法。该方法不仅减少了模糊规则数,而且使模糊控制逻辑变得清晰明了,其中控制参数采用遗传算法整定。实验结果证实:该方法控制效果好、系统跟踪速度快。
In order to solve the problem that the number of rules in fuzzy multiple variable control increase exponentially in accordance with the number of system variables involved, the design method of a hierarchical fuzzy controller is proposed based on the property of robotic tracking. It greatly decreases the number of fuzzy rules, and makes fuzzy control logic clarified; the control parameters are tuned by genetic algorithm. The experimental result verifies the effectiveness of the method and the high tracking speed of the system.
出处
《自动化仪表》
CAS
2007年第12期65-66,69,共3页
Process Automation Instrumentation
基金
兰州理工大学特色学术梯队基金项目(编号:20040915)
甘肃省自然科学基金项目(编号:3ZS051-A25-032)
关键词
分层模糊控制
遗传算法
机器人
时变系统
强耦合
Hierarchical fuzzy control Genetic algorithm Robot Time variable system Strong coupling