论文标题
用于机械系统不足的智能控制器
An intelligent controller for underactuated mechanical systems
论文作者
论文摘要
本文为不确定的非线性系统提供了智能控制器。所采用的方法基于滑动模式控制，并通过人工神经网络增强，以应对可能出现的不准确性和外部干扰。滑动表面定义为驱动和未启动变量的线性组合。添加径向基函数以补偿性能下降，以避免在常规的滑动模式控制器中用饱和函数替代符号函数。为了说明控制器设计方法，引入了建议的方案的应用，以进行倒置，并提出了数值结果以证明所得智能控制器的性能提高。
This paper presents an intelligent controller for uncertain underactuated nonlinear systems. The adopted approach is based on sliding mode control and enhanced by an artificial neural network to cope with modeling inaccuracies and external disturbances that can arise. The sliding surfaces are defined as a linear combination of both actuated and unactuated variables. A radial basis function is added to compensate the performance drop when, in order to avoid the chattering phenomenon, the sign function is substituted by a saturation function in the conventional sliding mode controller. An application of the proposed scheme is introduced for an inverted pendulum, in order to illustrate the controller design method, and numerical results are presented to demonstrate the improved performance of the resulting intelligent controller.
