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[1]张文辉,周启航,齐乃明.模糊CMAC的柔性空间机器人轨迹跟踪自学习控制[J].智能系统学报,2012,7(5):457-461.
　ZHANG Wenhui,ZHOU Qihang,QI Naiming.Trajectory tracking selfstudy control for flexible space manipulators with fuzzy CMAC[J].CAAI Transactions on Intelligent Systems,2012,7(5):457-461.

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模糊CMAC的柔性空间机器人轨迹跟踪自学习控制

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《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷: 7 期数: 2012年第5期页码: 457-461 栏目: 学术论文—智能系统出版日期: 2012-10-25

Title:: Trajectory tracking selfstudy control for flexible space manipulators with fuzzy CMAC

文章编号:: 1673-4785(2012)05-0457-05

作者:: 张文辉¹，周启航²，齐乃明²; 1.丽水学院工学院，浙江丽水 323000；
2.哈尔滨工业大学航天学院，黑龙江哈尔滨 150001

Author(s):: ZHANG Wenhui¹, ZHOU Qihang²,QI Naiming²; 1. College of Technology, Lishui University, Lishui 323000, China;
2. School of Astronautics, Harbin Institute of Technology, Harbin 150001, China

关键词:: 模糊CMAC; 逆模控制; 柔性空间机器人; PID控制; 轨迹跟踪; Hebb学习规则

Keywords:: fuzzy CMAC; inversemodel control; flexible space robot; PID control; trajectory tracking; Hebb learning rules

分类号:: TP242

文献标志码:: A

摘要:: 针对不确定自由漂浮柔性空间机器人系统，采用模糊CMAC神经网络自学习控制策略来解决轨迹跟踪控制问题.首先建立漂浮基空间机器人的动力学方程，然后利用具有快速学习能力的模糊CMAC神经网络来逼近非线性柔性臂的逆动力学模型.网络参数采用改进的有监督的Hebb学习规则进行自适应在线调整，并通过关联搜索进行自学习和自组织,其误差代价函数由 PID控制器提供.仿真结果表明,这种模糊CMAC逆模PID控制器能够达到较高的控制精度，具有一定的工程应用价值.

Abstract:: Considering the uncertainty of free floating adaptable space robot systems (FSRS), cerebellar model articulation controller(CMAC) neutral network selflearning control 〖JP3〗strategies are used to solve the trajectory tracking control problems of the inverse model control algorithm. Firstly, a nonlinearity dynamics equation of flexible space manipulator is established. The controller based on fuzzy CMAC neutral network is used for effectively learning how to compensate inversemodel, and fuzzy CMAC network parameters that could be adaptively adjusted online by improved supervisory Hebb learning rules. Error function is provided via proportional integration differential (PID) controller. The controller improved control accuracy and asymptotic convergence of tracking error. The simulation results illustrate the presented controller system has engineering value.〖JP〗

参考文献/References:: ［1］ABDOLLAHI F, TALEBI H A, PATEL R V. A stable neural networkbased observer with application to flexiblejoint manipulators［J］. IEEE Transactions on Neural Networks, 2006, 17(1): 118129.
［2］张文辉，齐乃明，尹洪亮．自由漂浮空间机器人神经网络自适应补偿控制［J］．宇航学报, 2011, 32(6): 13121317.
ZHANG Wenhui, QI Naiming, YIN Hongliang. Neural network adaptive compensation control of freefloating space robot［J］. Journal of Astronautics, 2011, 32(6): 13121317.
［3］HU H, WOO P Y. Fuzzy supervisory slidingmode and neuralnetwork control for robotic manipulators［J］. IEEE Transactions on Electronics, 2006, 53(3): 929940.
［4］张文辉，齐乃明，李运迁．基于模糊基函数网络的机械臂免模型输出反馈PD控制［J］．国防科技大学学报, 2010, 32(6): 163170.
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ZHANG Xiaodong, JIA Qingxuan, SUN Hanxu, et al. The research of space robot flexible joint trajectory control［J］. Journal of Astronautics, 2008, 29(6): 18651869.
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备注/Memo

收稿日期： 2010-08-21.
网络出版日期：2012-09-12.
基金项目：国家自然科学基金资助项目(61171189).
通信作者：张文辉.
E-mail: hit_zwh@126.com.
作者简介：
张文辉，男，1980年生，讲师，博士，主要研究方向为机器人动力学与控制，发表学术论文20余篇. 
周启航，男，1987年生，硕士研究生，主要研究方向为机器人动力学与控制. 
齐乃明，男，1962年生，教授，博士生导师，主要研究方向为空间动力学与控制、微重力环境模拟等，发表学术论文70余篇.

更新日期/Last Update: 2012-11-13

模糊CMAC的柔性空间机器人轨迹跟踪自学习控制 PDF下载HTML

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模糊CMAC的柔性空间机器人轨迹跟踪自学习控制

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