基于多层模糊逻辑和差分进化算法的二自由度气动人工肌肉系统辨识

2017 12th IEEE Conference on Industrial Electronics and Applications (ICIEA) Pub Date : 2017-06-01 DOI:10.1109/ICIEA.2017.8283033

Cao Van Kien, Nguyen Ngoc Son, H. Anh

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引用次数: 12

摘要

本文提出了一种基于基于差分进化算法优化的新型NARX多层模糊模型的非线性气动人工肌肉(PAM)二自由度并联系统辨识新方法。将多个MISO多层模糊模型组合成一个多层模糊系统。每个MISO多层模糊模型通过多个模糊Takagi-Sugeno集实现。然后利用DE算法对多层模糊模型的模糊结构和模糊规则进行最优训练。给出了实验结果。结果表明，该方法具有良好的可扩展性和简单性，可以成功地识别非线性MIMO系统。

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Identification of 2-DOF pneumatic artificial muscle system with multilayer fuzzy logic and differential evolution algorithm

This paper proposes a new method for identifying a nonlinear pneumatic artificial muscle (PAM) 2-dof parallel system based on the novel NARX multilayer fuzzy model optimized by differential evolution (DE) algorithm. A multilayer fuzzy system is created by combining several MISO multilayer fuzzy models. Each MISO multilayer Fuzzy model is implemented through several Fuzzy Takagi-Sugeno sets. Then fuzzy structures and fuzzy rules of proposed multilayer fuzzy model were optimally trained by DE algorithm. The experiment results are presented. It proves a promisingly scalable and simple method to successfully identify nonlinear MIMO system.

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2017 12th IEEE Conference on Industrial Electronics and Applications (ICIEA)

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