طراحی کنترلر یادگیری مرجعی مدل فازی برای سیستم ربات سگوی با نقصان عملگر

نوع مقاله: مقاله علمی پژوهشی

نویسندگان

1 دانشگاه صنعتی خواجه نصیرالدین طوسی، تهران، ایران

2 دانشگاه صنعتی خواجه نصیر طوسی

3 دانشگاه صنعتی خواجه نصیر، تهران، ایران

چکیده

مسئله ربات سگوی و پاندول معکوس چرخدار، یکی از مهمترین مسائل کلاسیک در مهندسی کنترل میباشد.مقاله حاضر یک روش کنترلی هوشمند، ارائه میدهد به نحوی که در آن کنترلر فازی پایین دست، ورودی مناسب به سیستم دینامیکی را به وجود میآورد؛ لیکن وجود یک مکانیزم یادگیری در کنترلر بالادست که به مقایسه خروجی کنترلر پایین دست و مدل مرجع میپردازد؛ روش را مقاوم و کارآمدتر میکند. همچنین با درنظر گرفتن حدود عدم قطعیت سیستم ب و نیز اغتشاشات، کنترل کنندهها نسبت به عدم قطعیتها و اغتشاشات موجود در مسئله مقاوم شدهاند. نمودارها و نتایج گواه این مطلب هستند.

کلیدواژه‌ها

موضوعات


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