基于对象模型的自适应模糊专家控制系统

A Expert Control System of Fuzzy-control of Self-Organization Based on Object Model for Robot

文中介绍了一个基于对象模型的自适应模糊专家控制系统。在该系统里 ,通过对机器人的行走装置进行模型化 ,建立了对象的模糊知识库 ,并根据自适应模糊控制的目标设计了推理机。系统无需精确的数学模型 ,能根据输入、输出变量自动修改控制规则 ,达到优化控制的目的。本文还介绍了对象模型的模糊知识表示方法和模糊知识库的结构以及对象模型的模糊控制推理。

A expert Control system of fuzzy-control of self-organization based on object model for robot is developed. In the system the fuzzy knowledge bases of the object are established by modelling walking device of the robot,and the reasoning engine is designed according to fuzzy-control aim. There needs no accurate control model in the system. The system can automatically modiry control rules according to input/output variables.Therefore the system can achiere optimum control. In this paper We introduce the fuzzy konwledge representation method, the fuzzy knowledge represemtation method, the structure of fuzzy knowledge bases and the fuzzy control reasoning of the object model.