The Intelligent Fuzzy-neural Network Control Of Micro-pipe Robot

With the development of micro electric mechanical science and technology , the studies of micro robot have board application fields and social demands. Micro robots can be used in biomedicine, aeronautics and astronautics, national defense, Industry, agriculture and family fields. Micro robot technique is an important content of the micro electric mechanical science and technology. It is a synthesis of many different disciplines, and a high integration of actuators, drive equipments, sensors, controller and power supplies. The control of intelligent robots is a key study area of modern automatic controls. Owing to the features of robot, it is very important to achieve self-determination control of micro robots.Based on the results have been made in this area so far, the author made a study on some theoretical and practical problems for the control techniques of micro pipe robot. The major works are shown as follows:(1) Based on the amount of recently literature in this thesis, the development status quo and prospect are described, and introduced the key technology of micro-pipe robot.(2) The characteristic of intelligent control-Fuzzy neural network control system is expatiated, and illustrated the necessity(3) Based on the moving environment and the moving features of the robot, the dynamics stability of the micro robot moving is analyzed. The author built the dynamics model of its constrained motion with frictional contact, and its moving stability is analyzed by singular perturbation theory. The stability and possibility of the micro robot moving in pipe are affirmed in theory.(4) The micro pipe robot is controlled by fuzzy neural networks, to achieve the self-determination control of the robot. A new self-learning algorithm that is highly integrated with moving environment of the robot and neural networksstructure is presented in this paper. According to the new self-learning algorithm, a self-learning control of the micro pipe robots is realized by computer simulation, and the simulating results are given.