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

• 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
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-08650504/
• 关键词: Autonomous robot; Fuzzy control; Robust perturbation technique; Fuzzy relation equation; GA; Lyapunov method; Fuzzy inference; Co-evolution approach; ル-リエ形リアプノフ関数; ファジイ推論; 競合共進化モデル; 意思決定; 残留ファジィ測度; ファジィ型非線形システム; クラシファイアシステム

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.该报告为具有任意非线性反馈的系统提供了模式分类。分类是使用可靠的非线性扰动技术进行的，其中非线性扰动被视为线性稳定系统的非线性扰动。结果表明，如果非线性位于稳定范围内，则自主机器人系统可以保持稳定。2。我们提出了一种算法，该算法解决了由SUP ・min或Inf ・最大复合材料给出的Fuzyy关系方程。该解决方案对于建立模糊推理很有用3。遗传算法（GA）需要设置健身函数并进行评估以解决问题。然后，对于游戏策略的自主获取问题，应用GA并不容易，因为健身功能无法在可变的游戏情况下固定。该报告称，提出的共同进化方法对问题有用4。模糊推理系统的“先例”和“结果”条件分别与常规非线性反馈的输入和输出良好相关。强大的扰动技术表明，如果非线性在稳健的扰动极限范围内，则根据Lyapunov的稳定性理论验证模糊控制系统是稳定的。该报告使用Thetechnique研究了模糊控制系统的稳定性。

项目成果

宮城 雅夫: "ロバスト摂動法による非線形フィードバックシステムのパターン類別" 日本機械学会論文集(C編). 62-598. 73-77 (1996)

Masao Miyagi：“使用鲁棒扰动方法的非线性反馈系统的模式分类”日本机械工程师学会会议记录（ed.C）62-598（1996）。

Hayao Miyagi: "Stable Pattern Classification of Unknown Nonlinear-Feedback Systems" International Journal of Systems Analysis Mndelling Simulation. (印刷中). (1998)

Hayao Miyagi：“未知非线性反馈系统的稳定模式分类”国际系统分析杂志 Mndelling 模拟（出版中）。

H.Miyagi: "Algorithm for Solution of Fuzzy Relation Equations" Proc. of IEEE SMC'97. Vol.4. 4005-4009 (1997)

H.Miyagi：“模糊关系方程的求解算法”Proc。

Katsumi Yamashita: "A Design Method of 3-D Lattice Predictive Modelling" International Technical Conference on Circuits/Systems,Computers and Communications. 1. 820-823 (1996)

Katsumi Yamashita：“3-D 晶格预测建模的设计方法”电路/系统、计算机和通信国际技术会议。

K.Uehara: "Study on Methods for Deciding Behavir of Mobile Robot-Acquisition of Control Rule by Information through Visual Sensor" J.of Nonlinear Analysis, Theory, Methods&Application. Vol, 30, No. 5. 2981-2988 (1997)

K.Uehara：“移动机器人行为决策方法的研究——通过视觉传感器获取信息控制规则”J.of Nonlinear Analysis, Theory,Methods