基于自适应高斯云变换的模糊控制器隶属度函数选取
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摘要
针对现阶段模糊控制器中隶属度函数选取的局限性,利用自适应高斯云变换算法在概念含混度阈值的引导下对工程样本数据进行概念层次划分,根据最终所得的高斯云分布情况确定出隶属度函数的数目、形状及覆盖范围。为了验证自适应高斯云变换算法提取的隶属度函数的合理性,构建了无人机六自由度模型,搭建了基于simulink仿真平台的无人机俯仰角模糊控制器用于仿真验证。数值仿真结果表明嵌套有自适应高斯云变换算法所确定的隶属度函数的无人机俯仰角模糊控制器可有效实现俯仰角的控制,同时具有良好的动态响应特性。
Aiming at the boundedness of existing methods of selecting membership functions,an adaptive Gaussian cloud transform algorithm which is guided by the threshold values of hybridization degree is proposed to construct concept hierarchy from original sample data,and then the number,shape and coverage area of membership functions can be derived from the distribution of Gaussian cloud. To test and verify the effectiveness of membership function that is extracted based on adaptive Gaussian cloud transform algorithm,a six-degree-of freedom model of unmanned aerial vehicles(UAV) is constructed,and a fuzzy controller of pitching angle is established with the platform of Simulink. The simulation results show that the fuzzy controller which includes membership functions derived from the distribution of Gaussian cloud transform can achieve perfect control performance of pitching angle and meanwhile obtain good dynamic response characteristics.
Aiming at the boundedness of existing methods of selecting membership functions,an adaptive Gaussian cloud transform algorithm which is guided by the threshold values of hybridization degree is proposed to construct concept hierarchy from original sample data,and then the number,shape and coverage area of membership functions can be derived from the distribution of Gaussian cloud. To test and verify the effectiveness of membership function that is extracted based on adaptive Gaussian cloud transform algorithm,a six-degree-of freedom model of unmanned aerial vehicles(UAV) is constructed,and a fuzzy controller of pitching angle is established with the platform of Simulink. The simulation results show that the fuzzy controller which includes membership functions derived from the distribution of Gaussian cloud transform can achieve perfect control performance of pitching angle and meanwhile obtain good dynamic response characteristics.
引文
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[3]Chen C,Tan W Q,Li H X,et al.A Fuzzy Human Pilot Model of Longitudinal Control for Carrier Landing Task[EB/OL].(2018-02-01)[2018-05-10].https:∥www.researchgate.net/publication/320260989.htm
[4]Barbosa G C,Bertolin R,González P J,et al.Fuzzy Gain-Scheduling Applied for a Very Flexible Aircraft[C]∥Aiaa Guidance,Navigation,and Control Conference,2018
[5]Feng Y X,Xue G B.Research on Trajectory Prediction Guidance Law Based on Dynamic RBF Network Identification and Fuzzy Control[J].Journal of Ordnance Equipment Engineering,2017,21(10):12-18
[6]张吉礼,赵天怡,刘辉.基于多维ANFIS的T-S模糊控制规则聚类获取方法[J].大连理工大学学报,2010,50(4):580-585Zhang Juli,Zhao Tianyi,Liu Hui.Clustering Obtainment Method of T-S Based on Multi-Dimensional Fuzzy Control Rules ANFIS[J].Journal of Dalian University of Technology,2010,50(4):580-585(in Chinese)
[7]Botzheim J,Hámori B,Kóczy L T.Applying Bacterial Algorithm to Optimise Trapezoidal Membership Functions in a Fuzzy Rule Base[EB/OL].(2018-02-01)[2018-05-10].https:∥www.researchgate.net/publication/2502648.htm
[8]Abdollah Homaifar,Ed Mc Cormick.Simultaneous Design of Membership Functions and Rule Sets For Fuzzy Controllers Using Genetic Algorithms[J].IEEE Trans on Fuzzy Systems,1995,3(2):129-139
[9]Rubai A,Ofoli A R,Burge L,et al.Hardware Implementation of an Adaptive Network-Based Fuzzy Controller for DC-DC Converters[J].IEEE Trans on Industry Applications,2005,41(6):1557-1565
[10]吴成富,闫冰,邵朋院.基于模糊控制的无人机滑跑起飞控制方法研究[J].西北工业大学学报,2015(1):33-39Wu Chengfu,Yan Bing,Shao Pengyuan.Research on the Control Method of Unmanned Aerial Vehicle Based on Fuzzy Control[J].Journal of Northwestern Polytechnical University,2015(1):33-39(in Chinese)
[11]雷英杰.模糊逻辑与智能系统[M].西安:西安电子科技大学出版社,2016Lei Yingjie.Fuzzy Logic and Intelligent System[M].Xi'an,Xi'an Electronic Science and Technology University Press,2016(in Chinese)
[12]Yin X,Li X,Liu L,et al.A Probabilistic Robust Mixed H2/H∞Fuzzy Control Method for Hypersonic Vehicles Based on Reliability Theory[J].Internatianal Janal of Advcnced Robotic Systems,2018,15(1):1-15
[13]李德毅,刘常昱.论正态云模型的普适性[J].中国工程科学,2004,6(8):28-34Li Deyi,Liu Changyu.The Universality of the Normal Cloud Model[J].Chinese Engineering Science,2004,6(8):28-34(in Chinese)
[14]王国胤,李德毅,姚一豫,等.云模型与粒计算[M].北京:科学出版社,2012Wang Guoyin,Li Deyi,Yao Yiyu,et al.Cloud Model and Particle Calculation[M].Beijing,Beijing Science Press,2012(in Chinese)
[15]吴森堂.飞行控制系统[M].北京:北京航空航天大学出版社,2013Wu Sentang.Flight Control System[M].Beijing,Beijing University of Aeronautics and Astronautics Press,2013(in Chinese)