柔索驱动并联机构的二型模糊神经逆控制(英文)

• 作 者: 李成栋 易建强 余意 赵冬斌
• 机 构: Institute of Automation,Chinese Academy of Sciences,
• 出 处: 自动化学报
• 发表日期: 2010年03期
• 关键词: 柔索 逆控制 并联机构 inverse challenging trained adjustment iterative handle counterpart

The level adjustment of cable-driven parallel mechanism is challenging due to the diffculty in obtaining an accurate mathematical model and the fact that different sources of uncertainties exist in the adjustment process.This paper presents a type-2 fuzzy neural network(T2FNN) based inverse control scheme for the level adjustment process.The T2FNN,whose consequent interval weights are trained by the iterative least squares estimation method,is used to approximate the inverse dynamics of the process and to handle uncertainties.Finally,the proposed control scheme and its counterpart—type-1 fuzzy neural network based inverse control scheme—are compared and implemented for leveling the cable-driven parallel mechanism.

The level adjustment of cable-driven parallel mechanism is challenging due to the diffculty in obtaining an accurate mathematical model and the fact that different sources of uncertainties exist in the adjustment process. This paper presents a type-2 fuzzy neural network (T2FNN) based inverse controlling scheme for the level adjustment process.The T2FNN, whose consequent interval weights are trained by the iterative least squares estimation method, is used to approximate the inverse dynamics of the process and to handle uncertainties. Initially, the proposed control scheme and its counterpart- type-1 fuzzy neural network based inverse control scheme-are compared and implemented for leveling the cable-driven parallel mechanism.