摘要
研究了一种(2,0)型受非完整约束的移动机器人运动控制系统,其一驱动轮采用主动控制,而另一驱动轮保持实时跟踪,该双闭环结构实现了移动机器人的调速控制和准确定位。此外为了进一步提高控制效果,并能适应存在一定非线性、时变和时滞性的移动机器人系统,对其控制器引入了专家PID控制算法,实验证明该运动控制器控制的有效性。
A motion control system of （2,0）type nonholonomic mobile robot is studied,one of its driving wheel uses active control,and another driving wheel keeps reed-time tracking,the double-loop structure realizes the mobile robot＇s speed-regulating and the control effect and make its controller adapt to a certain robot system, an expert PID control algorithm is introduced, is testified by experiment. precise positioning. In order to further improve nonlinear, time-varying and time-delay mobile the control effectiveness of the motion controller
出处
《机械设计与制造》
北大核心
2008年第6期145-147,共3页
Machinery Design & Manufacture
基金
福建省自然科学基金(2006J0025)
福州大学科技发展基金(XJJ-0501)
