Adaptive Takagi-Sugeno fuzzy model and model predictive control of pneumatic artificial muscles
文献类型：期刊论文
| 作者 | Xia XiuZe1,2 ; Cheng Long1,2
|
| 刊名 | SCIENCE CHINA-TECHNOLOGICAL SCIENCES
 |
| 出版日期 | 2021-08-31 |
| 页码 | 9 |
| 关键词 | pneumatic artificial muscles adaptive T-S fuzzy model LSTM neural network model model predictive control |
| ISSN号 | 1674-7321 |
| DOI | 10.1007/s11431-021-1887-6 |
| 通讯作者 | Cheng Long(long.cheng@ia.ac.cn) |
| 英文摘要 | Pneumatic artificial muscles (PAMs) usually exhibit strong hysteresis nonlinearity and time-varying features that bring PAMs modeling and control difficulties. To characterize the hysteresis relation between PAMs' displacement and fluid pressure, a long short term memory (LSTM) neural network model and an adaptive Takagi-Sugeno (T-S) fuzzy model are proposed. Experiments show that both models perform well under the load free conditions, and the adaptive T-S Fuzzy model can furtherly adapt to the change of load with the online adaptation ability. With the concise expression and satisfactory performance of the adaptive T-S Fuzzy model, a model predictive controller is designed and tested. Experiments show that the model predictive controller has a good performance on tracking the given references. |
| WOS关键词 | TRACKING CONTROL ; HYSTERESIS ; IDENTIFICATION |
| 资助项目 | National Natural Science Foundation of China[61873268] ; National Natural Science Foundation of China[62025307] ; National Natural Science Foundation of China[U1913209] ; Beijing Natural Science Foundation[JQ19020] |
| WOS研究方向 | Engineering ; Materials Science |
| 语种 | 英语 |
| WOS记录号 | WOS:000692433100001 |
| 出版者 | SCIENCE PRESS |
| 资助机构 | National Natural Science Foundation of China ; Beijing Natural Science Foundation |
| 源URL | [http://ir.ia.ac.cn/handle/173211/45929]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
| 通讯作者 | Cheng Long |
| 作者单位 | 1.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China |
| 推荐引用方式 GB/T 7714 | Xia XiuZe,Cheng Long. Adaptive Takagi-Sugeno fuzzy model and model predictive control of pneumatic artificial muscles[J]. SCIENCE CHINA-TECHNOLOGICAL SCIENCES,2021:9. |
| APA | Xia XiuZe,&Cheng Long.(2021).Adaptive Takagi-Sugeno fuzzy model and model predictive control of pneumatic artificial muscles.SCIENCE CHINA-TECHNOLOGICAL SCIENCES,9. |
| MLA | Xia XiuZe,et al."Adaptive Takagi-Sugeno fuzzy model and model predictive control of pneumatic artificial muscles".SCIENCE CHINA-TECHNOLOGICAL SCIENCES (2021):9. |
入库方式： OAI收割
来源：自动化研究所
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