| 飞行机器人递归小脑神经网络模型分解控制 |
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| 引用本文： | 段洪君,王凤文,史小平. 飞行机器人递归小脑神经网络模型分解控制[J]. 电机与控制学报, 2011, 15(1): 91-97 |
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| 作者姓名： | 段洪君 王凤文 史小平 |
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| 作者单位： | 东北大学秦皇岛分校自动化工程系;哈尔滨工业大学控制与仿真中心; |
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| 基金项目： | 航天支撑技术基金(2007-HT-HGD-7) |
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| 摘 要： | 为解决一类不确定非线性系统的控制问题及系统混合干扰上界在实际应用中难以测量的问题,提出递归小脑神经网络模型分解控制算法.将系统分为名义模型、结构不确定性和非结构不确定性,分别对名义模型设计直接反馈控制器、对结构不确定性设计自适应控制器、对非结构不确定性设计鲁棒控制器.设计递归小脑模型关节控制器作为观测器来对系统干扰的上...
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| 关 键 词： | 非线性 自适应控制 鲁棒控制 小脑模型关节控制器 飞行机器人 |
Recurrent CMAC model decomposition control for flying robot |
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| DUAN Hong-jun,WANG Feng-wen,SHI Xiao-ping. Recurrent CMAC model decomposition control for flying robot[J]. Electric Machines and Control, 2011, 15(1): 91-97 |
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| Authors: | DUAN Hong-jun WANG Feng-wen SHI Xiao-ping |
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| Affiliation: | DUAN Hong-jun1,WANG Feng-wen1,SHI Xiao-ping2(1.Department of Automation Engineering,Northeastern University at Qinhuangdao,Qinhuangdao 066004,China,2.Control & Simulation Center,Harbin Institute of Technology,Harbin 150001,China) |
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| Abstract: | Model decomposition algorithm with recurrent cerebellar model articulation controller(CMAC) was proposed for a class of uncertain nonlinear systems whose upper boundary of lumped disturbance is difficult to measure in practice.The system was divided into nominal model,structured uncertainty,and unstructured uncertainty.A direct feedback controller was contrived for the nominal model,an adaptive controller was designed for the structured uncertainty,and a robust controller was schemed for the unstructured un... |
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| Keywords: | nonlinearity adaptive control robust control cerebellar model articulation controller flying robot |
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