標題: 模糊控制以及模糊類神經網路在推廣型卡爾曼濾波器之應用
Fuzzy Control and the Application of Fuzzy Neural System for Extended Kalman Filter
作者: 趙春棠
Chun-Tang Chao
鄧清政
Ching-Cheng Teng
電控工程研究所
關鍵字: 模糊控制,模糊類神經網路,卡爾曼濾波器,PD型控制器;Fuzzy control, Fuzzy neural network, Kalman filter, PD controller
公開日期: 1995
摘要: 本文對於模糊控制以及模糊類神經系統,做了深入的研究與探討。
在模糊控制方面,我們首先推導模糊控制器與傳統PD (或PI)控制
器之等效性;接著,我們還提出了一個無穩態誤差響應的自調式
PD模糊控制器 另一方面,我們發展了兩個模糊類神經系統:
NFNN 及 FNNS,用以簡化模糊類神經網路的複雜度。此外,我們還
發展出一個結合此二系統特點的合成方法,它能在不需事前的專
家知識情況下,有彈性地鑑別並簡化模糊類神經網路的架構。最
後,我們利用模糊類神經網路建立了一個離散推廣型卡爾曼濾波
器用以估測非線性系統的狀態。
In this thesis we do the work of research about the fuzzy
control and fuzzy-neural systems. In fuzzy control, we first
propose a fuzzy logic controller which is equivalent to the
classical PD (or PI) controller. A PD-like self-tuning fuzzy
controller is then presented that yields zero steady-state
responses. On the other hand, two fuzzy-neural systems, the
NFNN and FNNS, are developed for reducing the complexity of
a fuzzy neural network. Also, a synthesis method combining
the advantages of NFNN and FNNS is explored to flexibly
identify a fuzzy-neural-network structure without prior
expert knowledge. Finally, we construct a discrete extended
Kalman filter by using fuzzy neural networks.
URI: http://140.113.39.130/cdrfb3/record/nctu/#NT840327078
http://hdl.handle.net/11536/60340
Appears in Collections:Thesis