摘要
考虑到难以获得机械臂精确的数学模型,对机械臂的位置控制提出一种基于BP神经网络的VRFT控制策略。VRFT方法给出了理想的控制器的输入输出数据,然后使用BP神经网络辨识理想控制器。对二阶机械臂的仿真结果表明ANN-VRFT方法能够使机械臂的实际闭环系统很好地逼近期望的参考模型。
A virtual reference feedback tuning control strategy based on BP neural networks is presented in the position control of the manipulator considering.It is difficult to obtain the specific mathematical model of the manipulator.It utilizes the BP neural network algorithm to identify the ideal controller,the input and output data of which is given by VRFT method.The simulation results show that the actual closed loop system of the two order manipulator can approximate the expected ref- erence model well by utilizing the ANN-VRFT method.
出处
《工业控制计算机》
2016年第9期59-61,共3页
Industrial Control Computer
