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Cricket fuzzy adaptive control system

Author: FeiShuo
Tutor: LiHongXing
School: Dalian University of Technology
Course: Control Theory and Control Engineering
Keywords: Cricket System PID control LQR control Fuzzy Adaptive Control
CLC: TP273.4
Type: Master's thesis
Year: 2011
Downloads: 44
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Abstract


This study is based on the theory of fuzzy adaptive control based on the cricket system as a control object , the control objective is to control the ball to track a preset trajectory. Cricket bat control object system is a classic two-dimensional expansion of the system , control theory is a typical experimental platform can be used to test control algorithms. The main papers are as follows: ( 1 ) Lagrange equation, ignoring the various confounders conditions, mathematical modeling system for cricket , and its a simplification has been simplified model, and prove controllability of the system . Select more comprehensively reflect the parameters of the angular acceleration of the system model as control object. ( 2 ) Details fuzzy adaptive controller design method for cricket System This multi-input multi-output system , its model will be transformed into a standard form of expression , and then the fuzzy adaptive control method is applied to the system control cricket is the design. ( 3 ) According to the principles of various control methods to determine the various parameters of the principles and methods of selection , so that to achieve the best control effect . Respectively, using PID control , LQR control and fuzzy adaptive control, cricket control the system , adjust parameters and observe the simulation results , the control effects were compared . To make the simulation results more can reflect the actual situation , respectively, at zero initial conditions and the same non-zero initial conditions , the system is a simulation. Simulation results show that : the fuzzy adaptive controller for cricket system control reached a relatively satisfactory results. By comparing the signal response and control the amount of observation to see , using the method of fuzzy adaptive control system cricket , the effect has been improved tracking signals and control the amount of aspects have been more ideal control effect. Therefore fuzzy adaptive control method cricket system control effect is the best .

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Automation systems > Automatic control,automatic control system > Fuzzy control, fuzzy control system
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