基於神經網絡的柔性機器人智能控制系統研究（Neural Network-based Intelligent Control for Flexible Robots）
高赫佳 荊哲 賀威 孫長銀
- 出版商: 機械工業
- 出版日期: 2026-08-01
- 售價: $714
- 語言: 簡體中文
- 頁數: 260
- ISBN: 7111809890
- ISBN-13: 9787111809890
-
相關分類:
DeepLearning
下單後立即進貨 (約4週~6週)
商品描述
本書系統探討了神經網絡技術在柔性機器人智能控制中的理論創新與工程應用。全書圍繞三大核心問題展開深入研究：其一，針對柔性多連桿機械臂在高速運動中易產生殘餘振動的問題，提出融合深度學習與自適應控制策略的軌跡跟蹤與振動抑制方法，顯著提升動態精度與穩定性；其二，面向地震等災害場景下柔性系統受結構變形與環境約束的雙重影響，構建基於神經網絡的約束控制框架，實現安全、魯棒的受限空間抑振能力效果；其三，針對覆雜非結構化環境中仿生機器人執行器故障等突發狀況，設計具有在線學習與重構能力的容錯控制架構，保障系統在部分功能受損時仍能完成關鍵任務。
本書可供人工智能等領域的本科生、研究生、科研人員和相關技術人員閱讀。
作者簡介
高赫佳 安徽大學人工智能學院教授、博導，本、博(學士直攻博)均畢業於北京科技大學，曾在加拿大 Concordia University 張友民教授(IEEE Fellow)團隊擔任 Research Intern (一年三個月)，現依托於 “自主無人系統技術”教育部工程研究中心等創新科研團隊，主要研究方向是機器人智能控制等。近 5 年來，在國際頂級期刊和會議上發表學術論文 50 餘篇，二區以上 SCI 論文 20餘 篇，多篇論文入選 ESI“高被引論文”、 ESI“熱點論文”。曾獲得2021年度中國人工智能學會優秀科技成果獎。作為主持人承擔了國家重大工程專項、國家自然科學基金面上項目、安徽省高校協同創新項目、安徽省自然科學基金青年項目等國家、省部級項目十餘項。
荊哲 北京理工大學博士後，本、博(學士直攻博)均畢業於北京科技大學，主要研究方向是柔性系統振動控制等，近年來發表學術論文十餘篇。
賀威 北京信息科技大學黨委常委、副校長，二級教授、博導，IEEE Fellow，國家傑出青年科學基金獲得者，國家萬人計劃科技創新領軍人才。發表SCI論文100餘篇，谷歌引用17000餘次，H-Index為73，授權國家發明專利40餘項，主要研究方向為智能無人系統、撲翼飛行機器人、智能控制。
孫長銀 中國人工智能學會會士，中國自動化學會會士，安徽省科學技術協會副主席，安徽大學黨委副書記、校長、國家傑出青年科學基金獲得者、二級教授、博導。發表SCI論文100餘篇，被他引2000餘篇次。獲國家自然科學二等獎1項，教育部自然科學一等獎2項、二等獎1項，吳文俊人工智能自然科學一等獎，中國自動化學會自然科學一等獎、科技進步一等獎，IEEE期刊優秀論文獎等。研究方向為智能控制理論與方法（神經網絡、支持向量機、數據驅動控制）。
目錄大綱
第 1 章 緒論 ···································· 1
1.1 研究背景及意義 ······················· 1
1.2 柔性弦及柔性梁建模與控制研究現狀 ························ 2
1.3 柔性機械臂建模與控制研究現狀 ··· 6
1.4 柔性類建築結構控制研究現狀 ····· 9
1.5 柔性仿生撲翼機器人控制研究現狀························· 12
1.6 神經網絡在柔性系統智能控制中的應用······················· 15
1.7 主要貢獻與結構安排 ··············· 16
第 2 章 數學知識 ···························· 21
2.1 柔性結構建模理論 ·················· 21
2.1.1 哈密頓原理 ························· 21
2.1.2 歐拉-伯努利梁理論 ················ 22
2.1.3 模型離散化方法 ···················· 22
2.1.4 拉格朗日方程方法 ················· 24
2.2 柔性結構控制理論 ·················· 24
2.2.1 邊界控制 ···························· 24
2.2.2 自適應控制 ························· 25
2.2.3 神經網絡 ···························· 25
2.2.4 反步法 ······························ 26
2.2.5 容錯控制 ···························· 27
2.3 穩定性分析 ··························· 28
2.3.1 李雅普諾夫直接法 ················· 28
2.3.2 Nussbaum 函數 ····················· 28
2.3.3 其他引理 ···························· 28
2.4 本章小結 ······························· 29
第 3 章 時變輸出約束下柔性弦的邊界振動控制 ················ 31
3.1 柔性弦系統研究概述 ··············· 31
3.2 柔性弦動力學分析及建模 ········· 32
3.3 時變輸出約束下柔性弦的振動控制設計··················· 34
3.3.1 基於模型的精確控制設計 ·········· 34
3.3.2 自適應控制設計 ····················· 36
3.3.3 控制器參數分析 ····················· 39
3.4 仿真結果及分析 ······················ 44
3.5 本章小結 ······························· 47
第 4 章 帶有分布時變擾動的柔性梁系統的神經網絡控制 ············· 49
4.1 柔性梁系統研究概述 ··············· 49
4.2 柔性梁系統動力學分析及建模 ··· 49
4.2.1 動力學分析 ·························· 49
4.2.2 離散化建模 ·························· 50
4.3 基於擾動觀測器的神經網絡控制······················· 50
4.3.1 控制器設計 ·························· 50
4.3.2 穩定性分析 ·························· 52
4.4 仿真驗證 ······························· 54
4.5 本章小結 ······························· 56
第 5 章 不對稱輸出約束下三維歐拉-伯努利梁的振動控制 ············· 57
5.1 三維歐拉 - 伯努利梁研究概述 ····· 57
5.2 三維歐拉 - 伯努利梁動力學分析及建模···················· 58
5.3 不對稱輸出約束下三維歐拉 - 伯努利梁的邊界控制設計 ··············· 60
5.3.1 基於模型的控制設計 ··············· 61
5.3.2 自適應控制設計 ···················· 67
5.4 仿真結果及分析 ····················· 69
5.5 本章小結 ······························ 80
第 6 章 輸入輸出約束下二維歐拉-伯努利梁的振動控制 ············· 81
6.1 二維歐拉 - 伯努利梁研究概述 ···· 81
6.2 二維歐拉 - 伯努利梁動力學分析及建模······················· 82
6.2.1 二維歐拉-伯努利梁動力學分析 ··· 83
6.2.2 輸入約束處理 ······················· 84
6.3 基於反步法的控制器設計 ········· 85
6.3.1 控制器設計 ························· 85
6.3.2 幹擾觀測器設計 ···················· 87
6.3.3 穩定性分析 ························· 88
6.4 仿真結果及分析 ····················· 91
6.5 本章小結 ······························ 96
第 7 章 柔性單連桿機械臂的模糊神經網絡控制················· 99
7.1 柔性單連桿機械臂研究概述 ······ 99
7.2 柔性單連桿機械臂動力學分析及建模······················· 99
7.2.1 動力學分析 ························· 99
7.2.2 離散化建模 ························ 100
7.3 基於模糊邏輯的神經網絡控制 ··· 101
7.3.1 控制器設計 ························ 101
7.3.2 穩定性分析 ························ 104
7.4 仿真結果及分析 ···················· 105
7.5 實驗結果及分析 ···················· 111
7.6 本章小結 ····························· 113
第 8 章 柔性雙連桿機械臂的輸出反饋神經網絡控制 ············ 115
8.1 柔性雙連桿機械臂研究概述 ···· 115
8.2 柔性雙連桿機械臂動力學分析及建模 ······················· 115
8.2.1 動力學分析 ························ 115
8.2.2 離散化建模 ························ 117
8.3 基於高增益觀測器的神經網絡控制························· 121
8.3.1 控制器設計 ························ 121
8.3.2 穩定性分析 ························ 123
8.4 仿真結果及分析 ···················· 128
8.5 實驗結果及分析 ···················· 131
8.6 本章小結 ····························· 135
第 9 章 基於擾動觀測器的柔性雙連桿機械臂強化學習控制 ··········· 137
9.1 受擾柔性雙連桿機械臂研究概述························· 137
9.2 受擾柔性雙連桿機械臂動力學分析及建模······················ 139
9.2.1 動力學分析 ························ 139
9.2.2 離散化建模 ························ 141
9.3 基於擾動觀測器的強化學習控制·························· 142
9.3.1 控制器設計 ························ 142
9.3.2 穩定性分析 ························ 146
9.4 仿真結果及分析 ···················· 148
9.5 實驗結果及分析 ···················· 151
9.6 本章小結 ····························· 154
第 10 章 柔性雙連桿機械臂的自適應動態規劃控制··············· 157
10.1 不確定柔性雙連桿機械臂研究概述························· 157
10.2 不確定柔性雙連桿機械臂動力學分析························· 159
10.3 基於雙評價網絡的自適應動態規劃控制·························· 160
10.3.1 控制器設計 ······················· 160
10.3.2 穩定性分析 ······················· 163
10.4 仿真結果及分析 ·················· 166
10.5 實驗結果及分析 ·················· 168
10.6 本章小結 ··························· 172
第 11 章 帶有偏心負載柔性建築的輸出約束神經網絡控制 ············· 173
11.1 帶有偏心負載的柔性建築研究概述··························· 173
11.2 帶有偏心負載的柔性建築動力學分析與建模 ························· 173
11.2.1 動力學分析 ······················· 173
11.2.2 離散化建模 ······················· 175
11.3 基於障礙李雅普諾夫函數的神經網絡控制 ···························· 176
11.3.1 控制器設計 ······················· 176
11.3.2 穩定性分析 ······················· 179
11.4 仿真結果及分析··················· 180
11.5 實驗結果及分析··················· 183
11.6 本章小結 ···························· 187
第 12 章 帶有主動質量阻尼器的柔性建築的強化學習控制 ·········· 189
12.1 帶有主動質量阻尼器的柔性建築研究概述 ··························· 189
12.2 帶有主動質量阻尼器的柔性建築動力學分析與建模 ··············· 189
12.2.1 動力學分析 ······················ 189
12.2.2 離散化建模 ······················ 190
12.3 基於 Actor - Critic 算法的強化學習控制 ··························· 191
12.3.1 控制器設計 ······················ 191
12.3.2 穩定性分析 ······················ 193
12.4 仿真及實驗驗證 ·················· 194
12.5 本章小結 ··························· 197
第 13 章 雙段式仿生柔性撲翼系統的神經網絡控制 ··················· 199
13.1 雙段式仿身柔性撲翼研究概述 ································· 199
13.2 雙段式仿生柔性撲翼動力學分析與建模 ······························ 200
13.3 基於神經網絡的雙段式仿生柔性撲翼系統智能控制 ··············· 201
13.3.1 控制器設計 ······················ 201
13.3.2 穩定性分析 ······················ 203
13.4 聯合仿真實驗 ····················· 205
13.5 本章小結 ··························· 208
第 14 章 帶有執行器故障的柔性撲翼系統的學習控制 ················ 209
14.1 單段式仿生柔性撲翼研究概述 ································· 209
14.2 單段式仿生柔性撲翼動力學分析與建模 ························ 209
14.3 基於非奇異快速終端滑模方法的智能控制 ··················· 212
14.3.1 控制器設計 ······················· 212
14.3.2 穩定性分析 ······················· 213
14.4 聯合仿真驗證 ····················· 215
14.5 本章小結 ··························· 221
第 15 章 總結 ······························· 223
參考文獻 ·
