一种机器人实时预测控制方法
kind of robot real time predictive control method
本文提出了运用模糊神经网络来建立机器人的多步预测模型，通过采用在线的调整算法来修正模型的误差。结合预测控制算法得到的预测控制器具有计算量小，收敛速度快的特点。通过机器人模型的仿真试验论证了该方法的具有较高的性能。
his paper proposes a new kind of robot real time predictive control method based on fuzzy neural network. The fuzzy network adjusts itself through the new data got from robot’s real time voyage. Using this control method, a predictive controller is designed. It has good computational efficiency and quick convergence rate. Results are given for robot model simulation experiments, which prove the effectiveness of the proposed method.
黄浩、张铭钧
自动化技术、自动化技术设备
预测控制，水下机器人，多步预测模型，模糊神经网络
UV Fuzzy neural network Multi-step predictive model Predictive control
黄浩,张铭钧.一种机器人实时预测控制方法[EB/OL].(2005-12-08)[2025-08-02].http://www.paper.edu.cn/releasepaper/content/200512-182.点此复制
评论