戴先中, 孟正大, 沈建强, 阮建山. 神经网络α阶逆系统控制方法在机器人解耦控制中的应用[J]. 机器人, 2001, 23(4): 363-367.
引用本文: 戴先中, 孟正大, 沈建强, 阮建山. 神经网络α阶逆系统控制方法在机器人解耦控制中的应用[J]. 机器人, 2001, 23(4): 363-367.
DAI Xian-zhong, MENG Zheng-da, SHEN Jian-qiang, RUAN Jian-shan. ROBOT DECOUPLING CONTROL BASED ON ANN α TH-ORDER INVERSE SYSTEM METHOD[J]. ROBOT, 2001, 23(4): 363-367.
Citation: DAI Xian-zhong, MENG Zheng-da, SHEN Jian-qiang, RUAN Jian-shan. ROBOT DECOUPLING CONTROL BASED ON ANN α TH-ORDER INVERSE SYSTEM METHOD[J]. ROBOT, 2001, 23(4): 363-367.

神经网络α阶逆系统控制方法在机器人解耦控制中的应用

ROBOT DECOUPLING CONTROL BASED ON ANN α TH-ORDER INVERSE SYSTEM METHOD

  • 摘要: 本文利用神经网络α阶逆系统线性化解耦能力,将严重耦合的多自由度机械手解耦成多个二阶积分子系统,进一步采用线性系统设计方法对已解耦系统设计闭环控制器,成功地实现了位置快速跟踪.该控制方法不需要知道机器人系统的精确数学模型,并且结构简单,易于工程实现.

     

    Abstract: Based on the ANN αth order inverse system method, this paper presents a novel method to approximately decouple the controlled nonlinear MDF robot into a number of independent SISO linear subsystems. Then well developed linear system theory is used to design an additional feedback linear controller to successfully realize the real time tracking of any arbitrary trajectory starting from arbitrary initial conditions even if the desired trajectory is not known in advance. Experiment results show its very good decoupling control and tracking performance. With the character of simple structure and without knowing the control system’s precise model, this method can be generalized to a class of MIMO nonlinear system in real field.

     

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