非線性系統之適應性模糊類神經網路控制設計

ADAPTIVE FUZZY CONTROL BASED ON FUZZY NEURAL NETWORK FOR NONLINEAR SYSTEMS

吳文翔(Wen-Shiang Wu)

指導教授 ： 黃英哲

元智大學/電機通訊學院/電機工程學系/碩士(2007年)

https://doi.org/10.6838/YZU.2007.00022

摘要

本文提出使用模糊控制器來控制受控體，並設計一個適應性模糊類神經網路來鑑別系統響應，進而提供一組參數去調整模糊控制器的輸出，使整個系統響應更具有強健性。本文提出適應性調整法則，當有外在干擾時，系統的控制性能仍能保持。最後分別以二軸機械手臂與行星齒輪倒單擺做為受控體，並以實驗的結果說明此方法效果十分良好。

關鍵字

非線性系統 ； 模糊控制 ； 類神經網路 ； 適應性控制

並列摘要

This paper presents a fuzzy controller to control the plant and design an adaptive fuzzy neural network to identify the system response and provide a group of parameters to adjust the fuzzy controller output, and to guarantee the system robustness. So, the system has robust performance with external disturbance. Finally, a two-link robotic manipulator and a planetary gear type inverted pendulum are investigated. The experiment results show that the proposed method is very effective.

並列關鍵字

Nonlinear system ； fuzzy control ； neural network ； adaptive control

參考文獻

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