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针对非线性自适应逆控制中非线性对象的建模和逆建模的精确性这一问题,提出一种基于模糊小脑模型关节控制器(Fuzzy Cerebellar Model Articulation Controller,FCMAC)网络的非线性自适应逆控制方案。将模糊逻辑思想嵌入到CMAC中构成FCMAC来对非线性对象进行较精确的逆建模,从而构建逆控制系统。在对象特性未知的情况下,选用BP网络来对象进行正建模,并由BP网络的辩识结果来对FCMAC的参数进行调整。仿真实验表明了该方案的有效性,且验证了其控制效果较单纯的CMAC网络逆控制更理想。
In order to solve the problem of nonlinear object modeling and inverse modeling in nonlinear adaptive inverse control, a nonlinear adaptive algorithm based on Fuzzy Cerebellar Model Articulation Controller (FCMAC) Inverse control program. The fuzzy logic is embedded into the CMAC to form FCMAC to inversely model the nonlinear object more accurately, so as to construct the inverse control system. In the case of unknown object characteristics, the BP network is chosen to model the object and the parameters of the FCMAC are adjusted by the recognition result of the BP network. Simulation results show the effectiveness of the proposed scheme and verify that its control effect is more ideal than the inverse control of CMAC network.