摘要
采用RBF神经网络控制算法来解决MIMO不确定非线性系统的自适应输出反馈控制问题,以系列模块化机械臂为研究对象,设计RBF神经网络控制器不断逼近可重构机械臂动力学模型,采用MATLAB软件基于RBF神经网络逼近设计的控制器对RR构型机械臂进行控制仿真。结果表明该控制器能有效地逼近机械臂动力学模型,并能较好地适应机械臂不同构型。
The RBF neural network control algorithm is used to solve the adaptive output feedback control problem of MIMO uncertain nonlinear systems.Taking a series of modular manipulators as the research object,the RBF neural network controller is designed to continuously approximate the dynamics model of the reconfigurable manipulator,and the MATLAB software is used to simulate the RR configuration manipulator on the basis of the RBF neural network approximation design of the controller.The results show that the controller can effectively approximate the dynamic model of the manipulator,and can adapt to different configurations of the manipulator.
作者
卢佳佳
毛芳芳
LU Jia-jia;MAO Fang-fang(Fuyang Vocational and Technical College, Fuyang, Anhui 236031)
出处
《吉林工程技术师范学院学报》
2021年第3期96-98,共3页
Journal of Jilin Engineering Normal University
基金
安徽高校自然科学研究重点项目(KJ2018A0742)
安徽高校自然科学研究重点项目(KJ2019A1022)。
