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Fuzzy-Type Nonlinear Systems and Construction of Lyapunov Functions for te Control of Autonomous Robot

自主机器人控制的模糊型非线性系统和Lyapunov函数的构造

基本信息

批准号：
08650504
负责人：
MIYAGI Hayao
金额：
$ 1.09万
依托单位：
University of the Ryukyus
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
1996
资助国家：
日本
起止时间：
1996 至 1997
项目状态：
已结题

项目摘要

1.The report presents a pattern classification for systems with arbitrary nonlinear feedbacks. Classification is carried using the robust nonlineear-perturbation technipue, in which nonlinearities are regarded as the non-linear perturbation of linear stable systems. The results show that the autonomous robot system can keep stable if nonlinearities lie in the robust-stable range.2. We have proposed an algorithm that solves fuzyy relation equations given by Sup・min or Inf・max composite. The solution is useful to establish fuzzy inference.3. The genetic algorithm(GA) requires setting a fitness function and evaluat-ing it to solve the probrem. then, for the autonomous acquisition problem of game strategy, it is not easy to apply GA because the fitness function can not be fixed in changeable situation of game. The report gives that the proposed co-evolution approach is useful to the problem.4. The "antecedent" and "consequent" conditions of fuzzy inference systems are well correlated with input and output of conventional nonlinear feedbacks, respectively. The robust perturbation technique shows that if the nonlinearities are within the robust perturbation limit, the fuzzy control system is verified to be stable according to the stability theorm of Lyapunov. The report has investigated the stability of fuzzy contrl systems using thetechnique.

1.报告提出了具有任意非线性反馈的系统的模式分类。采用鲁棒非线性扰动技术进行分类，其中非线性被视为线性稳定系统的非线性扰动。结果表明，当非线性在鲁棒稳定范围内时，自主机器人系统能够保持稳定。 2．我们提出了一种求解由 Sup·min 或 Inf·max 复合给出的模糊关系方程的算法。该解有助于建立模糊推理。 3．遗传算法（GA）需要设置适应度函数并对其进行评估来解决问题。那么，对于博弈策略的自主获取问题，由于适应度函数在博弈情况多变的情况下无法固定，因此应用遗传算法并不容易。该报告指出所提出的共同进化方法对于解决该问题是有用的。4．模糊推理系统的“前因”和“后因”条件分别与传统非线性反馈的输入和输出密切相关。鲁棒摄动技术表明，如果非线性在鲁棒摄动极限内，则根据李亚普诺夫稳定性定理，模糊控制系统是稳定的。该报告研究了使用该技术的模糊控制系统的稳定性。