Research on Adaptive Identification Systems to Estimate Dynamic Behaviors of Moving Objects

估计运动物体动态行为的自适应识别系统研究

• 批准号: 10650436
• 负责人: MATSUO Takami
• 金额: $ 2.18万
• 依托单位: Oita University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 1998
• 资助国家: 日本
• 起止时间: 1998 至 2000
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-10650436/
• 关键词: Adaptive Control; Adaptive Identification; Robust Control; Visual Feedback; Parameter Adjustment Law; PID Controller; Riccati Equation; Fuzzy Adaptive Identification

In this research, we derived the adaptive parameter adjustment law to estimate and control of dynamic behavior of nonlinear systems. We used a dynamic error system which satisfied a Riccati equation instead of the Lurie' equations, and showed the boundedness of the error system using σ-modification-like parameter adjustment law. Using the proposed We desinged the fuzzy adaptive identifier for unknown stable plants with unknown input nonlinearities, and designed a fuzzy identifier and a controller for the ball-plate apparatus which has two inputs and two outputs. The ball-plate system is the educational kit produced by Tequipment Inc., which consists of a plate pivoted at its center such that the slope of the plate can be manipulated in two perpendicular directions and which has the intelligent vision system for measurement of a ball position. First, a nonlinear model, called the fuzzy approximator expanded by the fuzzy basis functions, of the ball-plate system is given. The obtained fuzzy model contains the product of the system parameters and regressor signals consist of the fuzzy basis functions. Next, to estimate the unknown system parameters in the fuzzy model, the linear identifier for plant parameters is added to the fuzzy identifier for input nonlinearities. Finally, the performance of the proposed fuzzy identifier is investigated by the MATLAB simulation and the experiment.

在本研究中，我们导出了用于估计和控制非线性系统动态行为的自适应参数调整律。采用满足Riccati方程的动态误差系统代替了满足Lurie方程的动态误差系统，并利用类似σ-修正的参数调整律证明了误差系统的有界性。利用所提出的方法设计了具有未知非线性输入的未知稳定对象的模糊自适应辨识器，并针对具有两输入两输出的球盘装置设计了模糊辨识器和控制器。球盘系统是由Tequipment公司生产的教育套件，它由一个在其中心旋转的板组成，这样可以在两个垂直的方向上操纵板的斜率，并且具有测量球位置的智能视觉系统。首先，给出了球盘系统的非线性模型，即模糊基函数展开的模糊逼近器。得到的模糊模型包含系统参数的乘积，回归量信号由模糊基函数组成。其次，为了估计模糊模型中的未知系统参数，将植物参数的线性辨识器添加到输入非线性的模糊辨识器中。最后，通过MATLAB仿真和实验对所提模糊辨识器的性能进行了研究。

项目成果

Takami Matsuo,Ryoichi Yoshino,Haruo Suemitsu: "Robust Anti-Sway Control of Crane Lifter with Visual Measurement by PID+Q COntroller"Proceedings of IMEKO-XV World Congress, Osaka. X. 41-48 (1999)

Takami Matsuo、Ryoichi Yoshino、Haruo Suemitsu：“通过 PID Q 控制器进行视觉测量的起重机升降机的鲁棒防摇摆控制”IMEKO-XV 世界大会论文集，大阪。

Takami Matsuo, Yusaku Takita: "Fuzzy Adaptive Identification of Plants \ with Actuator Nonlinearities"Trans.on IEEJ-C. 120C-7. 1035-1042 (2000)

Takami Matsuo、Yusaku Takita：“植物的模糊自适应识别与致动器非线性”Trans.on IEEJ-C。

松尾孝美,安田武政,末光治雄,岡田英彦: "リッカチ方程式に基づく電力系統の適応安定化制御"電気学会論文誌C. 121-C-2. 366-374 (2001)

Takami Matsuo、Takemasa Yasuda、Haruo Suemitsu、Hidehiko Okada：“基于 Riccati 方程的电力系统自适应稳定控制”，日本电气工程师学会汇刊 C. 121-C-2 (2001)。

Takami Matsuo, Ryoichi Yoshino, Haruo Suemitsu: "Robust Anti-Sway Control on Crane Lifter with Visual Measurement by PID+Q Controller"Proceedings of IMEKO-XV World Congress, Osaka. Vol.X. 41-48 (1999)

Takami Matsuo、Ryoichi Yoshino、Haruo Suemitsu：“通过 PID Q 控制器进行视觉测量对起重机升降机进行鲁棒防摇摆控制”IMEKO-XV 世界大会论文集，大阪。

Takami Matsuo,Takeshi Shiode,Haruo Suemitsu: "Fuzzy Adaptive Fault Detector of Power Systems Based on Riccati Equation"Proceedings of IEEE International Conference on Systems,Man,and Cybernetics,Tokyo. VI. 179-184 (1999)

Takami Matsuo、Takeshi Shiode、Haruo Suemitsu：“基于 Riccati 方程的电力系统模糊自适应故障检测器”IEEE 国际系统、人与控制论会议论文集，东京。