Double inverted pendulum decoupling control by adaptive terminal sliding-mode recurrent fuzzy neural network

被引：6
|
作者：
Mon, Yi-Jen [1 ]
Lin, Chih-Min [2 ]
机构：
[1] Taoyuan Innovat Inst Technol, Dept Comp Sci & Informat Engn, Tao Yuan 320, Taiwan
[2] Yuan Ze Univ, Dept Elect Engn, Tao Yuan, Taiwan
来源：
JOURNAL OF INTELLIGENT & FUZZY SYSTEMS | 2014年 / 26卷 / 04期
关键词：
Recurrent fuzzy neural network; adaptive terminal sliding mode control; double inverted pendulum system; DESIGN; SYSTEMS; MOTOR;
D O I：
10.3233/IFS-130851
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
An adaptive terminal sliding-mode recurrent fuzzy neural network (ATSRFNN) control system is developed to control a coupled double inverted pendulum system. The proposed ATSRFNN control system is composed of a recurrent fuzzy neural network (RFNN) controller and an adaptive terminal sliding (ATS) controller. The RFNN controller is designed to mimic an ideal controller, and the ATS controller is designed to cope with the approximation error and external disturbance. The simulation results show the proposed ATSRFNN control system can achieve better control performance and robustness in comparison with a hierarchical fuzzy sliding-mode control system.
引用
收藏
页码：1723 / 1729
页数：7
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