التّحكم التأقلمي بأنظمة خطيّة وغير خطيّة بالاعتماد على النّموذج المخيخي

Authors

  • مناف سليمان

Abstract

تمّ في هذا البحث تطبيق نموذج تأقلمي مستوحى من النّماذج الدّاخليّة للمخيخ, وذلك من أجل التّحكم بنظم خطيّة، وغير خطيّة باستخدام طريقة جديدة تسمّى التعلّم بخطأ التغذية العكسيّةFeedback Error Learning (FEL)؛ وهي طريقة مستوحاة من النّموذج البيولوجي للمخيخ, وتعتمد على متحكّم تغذية عكسيّة إضافة إلى شبكة عصبونيّة أماميّة Feed-forward neural network، يتم تدريبها عن طريق خرج متحكّم التغذية العكسيّة. وتمّ تطبيق هذه الطّريقة للتّحكم بذراع بسيطة؛ وهو نظام خطّي, إضافة إلى مسألة توازن النّواس المعكوسinverted pendulum؛ وهو نظام غير خطّي، وتمّت محاكاة النظامين السّابقين على الحاسب باستخدام البيئة البرمجيّة Matlab and Simulink, وبيّنت النّتائج أنّ هذه الطّريقة تضمن أداء توازن جيد، وأداء قويّ مقبول.

In this study, an adaptive model inspired by internal models in the cerebellum is applied to control a linear and nonlinear systems, by using a new approach called Feedback Error Learning (FEL). FEL is a new scheme inspired by cerebellar biological model, it depends on Feedback Controller and Feed-Forward Neural Network, and it uses feedback controller output to train this Neural Network. We applied this approach to control a simple arm (linear system), and to balance inverted pendulum (nonlinear system). We simulate this two systems by using Matlab and Simulink, and we find that this control guarantees good balance performance and acceptable robust performance.

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Published

2019-01-30

How to Cite

1.
سليمان م. التّحكم التأقلمي بأنظمة خطيّة وغير خطيّة بالاعتماد على النّموذج المخيخي. Tuj-eng [Internet]. 2019Jan.30 [cited 2024Apr.26];33(4). Available from: https://journal.tishreen.edu.sy/index.php/engscnc/article/view/7319

Issue

Vol. 33 No. 4 (2011): العلوم الهندسية

Section

Articles

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Copyright (c) 2019 ttps://creativecommons.org/licenses/by-nc-sa/4.0/

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