本文關(guān)鍵詞：基于Takagi-Sugeno模糊神經(jīng)網(wǎng)絡(luò)的欠驅(qū)動無人艇直線航跡跟蹤控制，由筆耕文化傳播整理發(fā)布。

基于Takagi-Sugeno模糊神經(jīng)網(wǎng)絡(luò)的欠驅(qū)動無人艇直線航跡跟蹤控制

Straight-path tracking control of underactuated USV based on Takagi-Sugeno fuzzy neural network

[1] [2] [3] [4] [5] [6]

Dong Zaopeng, Liu Tao , Wan Lei, Li Yueming, Liao Yulei, Liang Xingwei（1. National Key Laboratory of Science and Technology on Autonomous Underwater Vehicle, Harbin Engineerin

[1]哈爾濱工程大學水下機器人技術(shù)重點實驗室,哈爾濱150001; [2]哈爾濱工程大學船舶工程學院,哈爾濱150001

文章摘要：研究一類欠驅(qū)動無人艇的直線航跡跟蹤控制問題,提出了一種自適應(yīng)T-S（Takagi-Sugeno）模糊神經(jīng)網(wǎng)絡(luò)控制方法。首先在神經(jīng)網(wǎng)絡(luò)體系結(jié)構(gòu)中設(shè)計前件網(wǎng)絡(luò)匹配T-S模糊控制器的模糊規(guī)則前件,設(shè)計后件網(wǎng)絡(luò)進行T-S模糊運算推理從而生成模糊規(guī)則后件;其次基于梯度下降法原理,設(shè)計了T-S模糊規(guī)則參數(shù)的優(yōu)化學習算法;然后結(jié)合BP神經(jīng)網(wǎng)絡(luò)的誤差反向傳播原理和梯度下降法,設(shè)計了模糊神經(jīng)網(wǎng)絡(luò)體系誤差的反向傳播迭代算法,用于高斯隸屬度函數(shù)參數(shù)的學習優(yōu)化;最后設(shè)計了基于T-S模型的模糊神經(jīng)網(wǎng)絡(luò)控制器,并通過仿真實驗驗證了所提出方法和所設(shè)計控制器的有效性。

Abstr：The straight-path tracking control for a class of underactuated unmanned surface vehicle （USV） is discussed and an adaptive T-S （Takagi-Sugeno） fuzzy neural network control method is proposed in this paper. Firstly, the antecedent network of the neural net- work architecture is designed to match the antecedent of fuzzy rules for T-S fuzzy controller; while the consequent network is designed to generate the consequent of fuzzy rules with T-S fuzzy inference. Secondly, the optimization learning algorithm for the parameters of T-S fuzzy rules is designed based on the gradient descent method. Thirdly, the back propagation iterative algorithm for the error of fuzzy neu- ral network system is designed based on the back propagation principle of BP neural network and gradient descent method, which is used for the learning and optimization of the Gaussian membership function parameters. At last, the fuzzy neural network controller based on T-S model is designed. Simulation experiment was conducted, and the results verify the effectiveness of the proposed control method and the designed controller.

文章關(guān)鍵詞：

Keyword：:underactuated unmanned surface vehicle （USV） straight-path tracking Takagi-Sugeno fuzzy control adaptive fuzzy neuralnetwork gradient descent method back propagation iterative algorithm

課題項目：國家高技術(shù)研究發(fā)展計劃（863計劃）（2012AA09A304;2014AA09A509）; 國家自然科學基金（51409054;51409059;51409061）; 中國博士后科學基金（2013M540271）項目資助

  本文關(guān)鍵詞：基于Takagi-Sugeno模糊神經(jīng)網(wǎng)絡(luò)的欠驅(qū)動無人艇直線航跡跟蹤控制，，由筆耕文化傳播整理發(fā)布。