摘要
针对遥操作的双边控制理论,提出了模糊控制的方法。但对于隶属函数难以确定的问题,使用了分布估计算法来优化控制参数,以建立适合实际系统的隶属函数,来提高遥操作双边控制的性能,达到良好的稳定性和跟踪性。并用MATLAB进行参数优化的仿真及通过双边仿真系统进行了参数优化前后的对比验证,结果表明所提算法是可行的、有效的。
A fuzzy logical control method applied in the bilateral teleoperation control theory was proposed.With the problem of determining membership functions of fuzzy logical controller,Estimation of Distribution Algorithms（EDAs） was used in optimizing the control parameters to establish the membership functions for the actual system in order to enhance the bilateral teleoperation control performance and obtaining good stability and tracking.With the parameters optimized in MATLAB simulation,the results of contrast experiment,which were carried out through the bilateral simulation system before and after optimizing parameters,prove that EDAs are feasible and effective.
出处
《系统仿真学报》
CAS
CSCD
北大核心
2012年第4期810-815,共6页
Journal of System Simulation
基金
国家杰出青年科学基金(60625304)
国家自然科学基金资助(60621062
90716021)
