高技术通讯2026，Vol.36Issue(6)：643-651,9.DOI:10.3772/j.issn.1002-0470.2026.06.010
基于NARX动态神经网络的球形机器人混合建模
Hybrid modeling of spherical robot based on NARX dynamic neural network
摘要
Abstract
Spherical robot has the characteristics of underactuation,non-holonomic constraint,complex mathematical model,etc.In order to solve the problem that it is difficult to establish accurate mathematical model,a hybrid modeling method based on nonlinear auto-regressive with exogeneous inputs(NARX)dynamic neural network data-driven modeling is proposed.Firstly,based on the spherical robot platform,Lagrange equation is used to establish its dynamics model.Then,aiming at the modeling deviation caused by mechanism assumption and nonlinear pro-cessing,a adaptive wavelet packet denoising(AWPD)algorithm and a data-driven modeling method based on NARX dynamic neural network are designed.By adopting the adaptive threshold function strategy,the threshold value of AWPD algorithm can be adjusted adaptically according to the noise distribution law of each layer to improve the noise reduction effect of data.Meanwhile,the data-driven model of spherical robot is established by using NARX dynamic neural network.On this basis,the dynamic model and data-driven model are combined to build a hybrid model of spherical robot.Finally,the experimental results show that the hybrid modeling method designed in this paper has stronger data denoising ability,higher modeling accuracy and generalization ability compared with the traditional mechanism modeling and data-driven modeling methods.关键词
球形机器人/自适应小波包去噪/动态神经网络/混合建模Key words
spherical robot/adaptive wavelet packet denoising/dynamic neural network/hybrid modeling引用本文复制引用
罗文龙,章政,付永鹏,张军生,刘思贤..基于NARX动态神经网络的球形机器人混合建模[J].高技术通讯,2026,36(6):643-651,9.基金项目
国家自然科学基金(62303359)资助项目. （62303359）
