Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011
ng dng h m - nron Takagi - Sugeno trong iu khin bm
h ng hc phi tuyn

On application of the Takagi - Sugeno neuro - fuzzy network for tracking control
of dynamic non - linear system

Nguyn Trng Thun
Trng H BK H Ni
e-Mail: ngtthuan.bk@gmail.com

Trung Hi
Trng HKT cng nghip - H Thi Nguyn
e-Mail: dotrunghai@tnut.edu.vn


Tm tt
Bi bo xut phng php k thut dng h m -
nron nhn dng trc tuyn v iu khin bm h
ng hc phi tuyn. M hnh nhn dng v iu khin
c dng l b iu khin m Takagi Sugeno vi
s bin i thng s ca hm lin thuc dng mng
nron theo thut ton hc lan truyn ngc v s thay
i tn hiu iu khin vi mong mun u ra ca i
tng bm theo u vo cho trc. Vic phn tch l
thuyt c ng dng cho vic nhn dng v iu
khin m hnh ng hc tay my 1 khp ni. Kt qu
m phng vi chnh xc cao c ch ra.

Abstract
The paper presents a technique of on - line identifying
and tracking control the dynamic non -linear systems
using the neuro - fuzzy. The identified and controlled
model is used by a Takagi - Sugeno fuzzy controller,
which information from the neural networks with the
backpropagation algorithm is used to make suitable
adjustment is made in the parameter of the fuzzy
controller and control signal for object output tracking
the input. The theoretical analysis are applied for the
identification and control of dynamic model of single -
link joint manipulators. Simulation results are
presented.
Key words: Neuro - fuzzy system, Takagi - Sugeno
fuzzy controller, Identify and control of non - linear
system.

K hiu
K hiu ngha
A
i
j
Bin ngn ng
j
i
A
m


Hm lin thuc
W Trng s lin kt
q
H s hc
y

Gi tr u ra m hnh
y Gi tr u ra thc
y
*
Gi tr t

Ch vit tt
T-S Takagi Sugeno
NFCs Neuro-Fuzzy Controllers

1. t vn
Vic nhn dng v iu khin h phi tuyn lun l vn
c nhiu nh khoa hc quan tm, nghin cu.
Bi bo ny trnh by vic ng dng l thuyt iu
khin hin i logic m v mng nron nhn dng
v iu khin h.
Logic m v mng nron l cc lnh vc khoa hc b
sung cho nhau. Mng nron a ra nhng thng tin t
h trong qu trnh hc, logic m s dng cc thng tin
v i tng thng qua cc kin thc chuyn gia.
Theo [1] vic kt hp gia logic m v mng nron
c th hin cc dng sau: H m-nron; H
nron-m; H lai nron-m.
Bi bo s dng h m - nron nhn dng trc
tuyn v iu khin bm h ng hc phi tuyn.
Trong cu trc h m-nron: mng nron c s
dng nh mt cng c trong m hnh m, l nhng
h m c phng php tip cn t ng ca mng
nron. y khng c s thay i chc nng ca h
m v mng nron c dng tn dng kh nng
tnh ton v x l d liu.

2. Cu trc h m - nron Takagi
Sugeno trong bi ton nhn dng
nhn dng h thng, trong bi bo dng h m
nron vi lut m T-S. M hnh m T-S, ln u tin
c xut bi Takagi v Sugeno vo nm 1985.
im khc nhau c bn gia hai m hnh m T-S v
m hnh m Mamdani l mnh kt lun ca cc
lut m. Mnh kt lun trong m hnh m T-S lun
l nhng hm gi tr thc, n thay th cho cc tp m.
Gi s lut m th j trong m hnh m T-S c dng:
j j j
1 1 2 2 n n
j 0 1 1 2 2
Neu x l A va x la A va ...va x la A
Thi y f ...
j j j j
n n
a
a a x a x a x = = + + + +
(1)
Vi:
i
x l bin u vo; y l bin u ra.
A
i
j
l bin ngn ng ca mnh iu kin vi hm
lin thuc ) x (
i
A
j
i

j
i
a l h s vi 1...n i = = ; m ... 1 j
Nu fj l mt hng s khng ph thuc vo cc gi tr
x
1
, x
2
, ..., x
n
th m hnh m T-S c gi l m hnh
bc khng.
764
Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011
Nu fj c xc nh nh (1) th m hnh m T-S
c gi l m hnh bc mt.
Khng mt i tnh tng qut, ta c th chn h c 2
u vo v mt u ra vi 2 lut hp thnh R
1
v R
2
.
1 1 1 1 1
1 1 1 2 2 1 0 1 1 2 2
: Neu x la A va x la A Thi y f R a a x a x = = + +
(2)
2 2 2 2 2
2 1 1 2 2 2 0 1 1 2 2
: Neu x la A va x la A Thi y f R a a x a x = = + +
(3)
x
1
, x
2
l cc bin u vo.
Lc ny cu trc in hnh v thc hin lut m
(2),(3) l h NFCs gm 5 lp nh v (H.1)












Trong cu trc ny :
Lp 1: Nhn tn hiu vo.
Lp 2 : Thc hin chc nng m ho-to hm lin
thuc. Hm lin thuc thng chn c dng hm
Gaus:

2
( )
( )
s
m
j
i i
j
i
j
i
x m
i
A
x e
(4)
ij
o ; m
ij
l tm v rng ca hm lin thuc
Lp 3: thc hin php ton trong mnh iu kin,
y thc hin theo lut tch i s.

) x ( ). x (
) x ( ). x (
2
A
1
A
2
2
A
1
A
1
2
2
2
1
1
2
1
1
=
=
(5)
Lp 4: thc hin php ton trong mnh kt lun.
Tnh f
1
v f
2
theo (2), (3).
Lp 5: tnh gi tr u ra ca h ( gii m)

1 2
1 2
1 2 1 2
f f f

= +
+ +
(6)
y thut ton hc c s dng l thut ton lan
truyn ngc. Xt u ra tng qut vi hm mc tiu
sai lch c xc nh l:

( ) ( )
2
1
2
E f t f t
(7)
Trong : f*(t) l i lng t
( ) f t l i lng ra
Lut hc s thay i cc trng s lin kt trong cc
nt hoc thng s ca mi nt ( nh tm hoc rng
hm lin thuc) theo hng cc tiu ho hm mc
tiu sai lch bng cch s dng php lp (v d chnh
nh trng s lin kt). Trng s lin kt bc th t
+1 s c tnh theo bc th t nh (8):

( 1) ( ) ( ) h
E
w t w t
w
(8)

E E (a)
w (a) w
c c c
=
c c c
(9)
Trong q l h s hc; a l hm tc ng.
Vi h NFCs nh hnh 1, lut cp nht cc thng s
ca cc lp c thc hin t lp u ra cho n lp
u vo c cp n [4].
Khi lu thut ton ca on chng trnh cp
nht thng s trong bi ton nhn dng trc tuyn h
thng s dng h m-nron nh hnh v ( H.2)




























3. Bi ton iu khin
Sau khi nhn dng i tng, da vo tham s ca
i tng ta thit k b iu khin. Gi thit i
tng iu khin c dng chun [3] v khng mt tnh
tng qut xt h c dng chun gm 2 bin trng thi
v c cu trc nh (10)
1 2
2
1
x x
x F(x) G(x).u
y x
=

= +

(10)
Trong :
1 2
x=(x , x ) ; F(x) , G(x) l cc hm
nhn dng c bng h m-nron.
Vn t ra l phi xc nh tn hiu iu khin u
tn hiu ra ca h thng bm theo tn hiu mong
mun. T (10) ta vit li:
1 2
2
1
y x x
y x F(x) G(x).u
y x
= =

= = +

(11)
H.1 cu trc mng nron theo lut m T-S

x
1



A
1
1



) x (
1
A
1
1

*
y

lp 1


) x (
1
A
2
1


) (
2
2
2
x
A

1

2

1
f
2
f
x
2
A
1
2
A
2
1
A
2
2
f
lp 2

lp 3

lp 4

lp 5

H .2 lu cp nht thng s
Gi cc gi tr (tm v rng) ca cc hm
lin thuc trong cu trc NFCs l W
c
Tnh o hm ca hm mc tiu sai lch theo
tm v rng ca cc hm lin thuc ( gi
chung l AW)
E
W
W
c
A =
c

Tnh cc gi tr mi
c
W .
mi
W W = +qA
q l h s hc
Gn cc gi tr mi cho mng
v quay li bc (I)
(I)
(II)
(III)
(IV)
765
Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011
T (11) xc nh c tn hiu iu khin u:
( )
1
u y F(x)
G(x)
= (12)
Trong (12) F(x) , G(x) xc nh bng qu trnh
nhn dng, ta phi i xc nh y
T m hnh nhn dng, gi u ra ca m hnh l y ,
gi thit u ra ca h trng vi u ra ca m hnh
nhn dng khi :
y y = (13)
( )
1
u y F(x)
G(x)
=
(14)
Gi gi tr ra mong mun (gi tr t) ca h l y
*
. Khi
sai lch gia u ra mong mun v u ra ca h
l:
e y y (15)
Vi mong mun e0 trong khong thi gian hu
hn. Gi thit e

l nghim ca phng trnh vi phn
tuyn tnh:
1 2
e e e 0 +o +o = (16)
T (16) nu cc nghim ca phng trnh c tnh c
phn thc m th e0 sau mt khong thi gian hu
hn. y vic xc nh cc h s o
1
, o
2
ca (16)
c thc hin theo phng php gn im cc.
T (15),(16) ta c:

1 2
y y e e 0
-
+o +o = (17)
Thay vo (14) ta tm c:
( )
1 2
y e e F(x)
u
G(x)
-
+o +o
= (18)
T (18) ta thy nu tham s ca i tng thay i,
qua qu trnh nhn dng cc hm x) F( , ) G(x thay i
theo dn n tn hiu iu khin u s thay i ph hp
vi s thay i ca i tng. Cu trc tng qut
nhn dng trc tuyn v iu khin h nh hnh v
(H.3)





















4. M phng
Xt i tng nhn dng v iu khin l tay my mt
khp ni c phng trnh ng hc theo [2] c dng
(19)

1 2
2 1 2 2 2
1
x x
g d 1
x [ sin(x ) x ] .u
l ml ml
y x
=

= + +

(19)
Hay
1 2
2
x x
x F(x) G(x)u
=

= +

(20)
Vi
1 2
x=(x , x ) ; u =
1
x l v tr gc; u =

2
x l vn
tc gc; m l khi lng ca tay my ; l l chiu di
tay my;u l mmen tc dng vo h; d l h s ma
st; g l gia tc trng trng.
Cho cc tham s ca h l:
2
m 0, 9 0,85 0,8kg m = = = =
2
kg; l m; g 9,8m/s ; d /s
Tin hnh m hnh ha h thng bng Matlab-
simulink kt qu m phng nh hnh v (H.4, H.5,
H.6)






































H. 3 M hnh cu trc h nhn dng v iu khin
u
x
H m-
nron
y
1

s
H ng hc phi
tuyn thc t
x
1
x
2
(-)
G(x)
F(x)
B iu
khin
vi lut
(18)

y
*
H ng hc phi tuyn m hnh
y
1

s
H m-
nron
y

[s]
[rad]

H.4 Tn hiu ra mong mun (tn hiu t) y
*
, tn
hiu ra ca i tng y v sai lch e gia chng

0 5 10 15 20 25
-0.4
-0.2
0
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
y
*

y


e


H.5 Sai lch e gia tn hiu ra mong mun
(tn hiu t) y
*
, tn hiu ra ca i tng y

[rad]

[s]
0 5 10 15 20 25
-0.25
-0.2
-0.15
-0.1
-0.05
0
0.05
0.1
0.15
0.2
0.25
766
Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011























5. Kt lun
Bi bo xut hng dng h m-nron Takagi
Sugeno nhn dng trc tuyn v iu khin bm h
ng hc h phi tuyn. Vi cu trc h l 5 lp v la
chn s nron cc lp thch hp, s m bo tc
tnh ton nhanh v cp nht thch nghi thng s ti
thiu ho sai lch. Cu trc iu khin theo hnh H.3
v lut iu khin c dng (18) m bo h n nh v
bm theo qu o t khng ph thuc vo iu kin
u.
Cc kt qu phn tch l thuyt c m phng
cho h phi tuyn dng (19). Qua kt qu m phng
(hnh H.4, H.5, H.6) nhn thy ta c th va nhn
dng trc tuyn v iu khin h. Cc kt qu l
thuyt v m phng ny c th c ng dng cho
cc i tng trong thc t k thut.

Ti liu tham kho

[1] Chin-Teng Lin and C.S. George Lee, Neural
Fuzzy Systems, Prentice-Hall International (1996).
[2] X.M.Ren, A.B.Rad, P.T.Chan, Wai Lun Lo,
Identification and control of continuous-time nonlinear
systems via dynamic neural networks, IEEE
Transactions on industrial electronics, Vol.50. No.3, pp
478-486 (2003)
[3] Slotine, J.E and Le, W, Applied nonlinear
control, Prentice-Hall, Engleewood Cliffs, NJ (1991)
[4] Nguyn Trng Thun, Trung Hi, ng dng l
thuyt m v mng nron nhn dng ng hc h c
tnh phi tuyn mnh, Tp ch Khoa hc & cng ngh
cc trng i hc k thut, S 60, Trang 21-26
(2007).



GS Nguyn Trng Thun sinh
nm 1940 ti H Tnh. ng tt
nghip i hc bch Khoa H
Ni nm 1963 v nhn c
bng Tin s v in v T
ng ho ti i hc in-
My Plzen Tip Khc nm
1978 .
Hin ti ng l Gio s ti B
mn T ng ho, Khoa in,
trng i hc Bch Khoa H
Ni. Cng vic ging ging v
nghin cu khoa hc ca ng
u tp trung trong cc vn v: iu khin My
in, in t cng sut v h thng in, iu khin
m v mng N-ron. Trong qu trnh lm vic, GS
Thun cng c nh nc khen thng mt s cng
trnh Khoa hc.

Trung Hi sinh ngy
07/01/1974 ti Bc Giang. Tt
nghip K s in kh ho X
nghip i hc K thut Cng
nghip i hc Thi Nguyn
nm 1996. Tt nghip Tin s
K thut ngnh T ng ho
i hc Bch khoa H Ni
nm 2009. Hin ang cng tc
ti Trng i hc K thut
Cng nghip i hc Thi
Nguyn. Lnh vc quan tm
nghin cu: l thuyt m v mng nron.




























H.6 S thay i theo thi gian ca tm,
rng cc hm lin thuc v cc gi tr
j
i
a
mnh kt lun trong qu trnh nhn dng
online v iu khin
[rad]

[s]
[rad/s]

0 5 10 15 20 25
-200
-150
-100
-50
0
50
100
150
767