摘要
以步进电机驱动的差动式移动机器人为对象,建立非完整约束的离散运动学模型.基于参数整定的思想,并结合路径跟踪的特点来设计用于非完整移动机器人路径跟踪的分阶段模糊控制器,在跟踪的趋近和稳定阶段,分别采用了不同的模糊化比例因子和解模糊比例因子.仿真和实验表明,移动机器人采用分阶段模糊控制器对路径进行跟踪,响应速度快,稳态误差小,鲁棒性强.
The discrete kinematics model of wheeled mobile robots in digital control system is analyzed and established. In order to improve the adaptability of path tracking, a piecewise fuzzy controller with parameter tuning is designed for mobile robots. The scaling factors of fuzzy variables are applied, which are tuned offline respectively in approaching phase and stable phase. Simulation experiments show that the path tracking has quick response, and the piecewise fuzzy controller has good fault tolerance and robustness.
出处
《控制与决策》
EI
CSCD
北大核心
2008年第6期655-659,共5页
Control and Decision
关键词
非完整约束
轮武移动机器人
路径跟踪
模糊控制
参数整定
Nonholonomic constraints
Wheeled mobile robots
Path tracking
Fuzzy control
Parameter tuning
