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頁籤選單縮合
題名 | Adaptive Wavelet Network Control Design for Nonlinear Systems=非線性系統之適應小波網路控制設計 |
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作者 | 鄭幼民; 陳博現; 蕭福源; | 書刊名 | Proceedings of the National Science Council : Part A, Physical Science and Engineering |
卷期 | 22:6 1998.11[民87.11] |
頁次 | 頁783-799 |
分類號 | 448.942 |
關鍵詞 | 非線性系統; 小波網路; 控制設計; Nonlinear H垒tracking control; Wavelet network; Nonlinear adaptive control; |
語文 | 英文(English) |
中文摘要 | 本文旨在研究應用小波網路來控制非線性系統。首先建構一個小波網路去近似一 個非線性系統。根據此一小波網路近似,針對不確定(或未知)非線性系統,發展出一套適 當的適應控制法則與參數更新演算法,以達到滿足 H �帘坒鄐妍l蹤控制。 我們發現到,應 用所提出之適應小波網路控制設計,系統之近似誤差與外界干擾之效應可以被衰減至一想要 的程度。最後以兩個非線性控制實例(倒單擺系統與兩軸機械人系統)來說明所提出控制法 的設計過程及展現其控制性能。 |
英文摘要 | An application of wavelet networks to control problems of nonlinear systems is investigated in this work. A wavelet network is constructed as an alternative to a neural network to approximate a nonlinear system. Based on this wavelet network approximation, suitable adaptive control laws and appropriate parameter update algorithms for nonlinear uncertain (or unknown) systems are developed to achieve H�孤racking performance. It is shown that the effects of approximation errors and external disturbances can be attenuated to a specific attenuation level using the proposed adaptive wavelet network control scheme. Two examples-an inverted pendulum system and a two-link robotic system-are presented to illustrate the proposed design procedures and exhibit its performance. |
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