摘要
本文针对轮式移动机器人这种典型的非完整性系统,在给出了动力学模型后将模型中的参数选取进行了一些改进使用直观的电压参数来取代转距;在实际应用中由于模糊规则一经确定就无法改变,本文采用了一种在全论域范围内自调整规则因子的方法,调整过程符合人在决策过程中的思维特点,且易于计算机实现控制算法。仿真结果表明系统的动态性能得到明显改善。
This paper improved the parameters of the model were selected to carry out to replace the switch by the direct voltage parameters after studying kinetic model of the non-integrity mobile robot model. In practice, because of fuzzy rules determined, it will be impossible to change the rules, we proposed a kind of self-adjusting method in the whole domain to adjust the weighting factor. This adjustment is accord with thinkingQ characters of people in the decision-making process of thinking, and easy-to be achieved via a computer algorithm. The result of simulation indicates that dynamic function of system is improved obviously.
出处
《微计算机信息》
2009年第2期239-240,132,共3页
Control & Automation
基金
基金申请人:戴学丰
基金项目名称:轮式移动机器人自组织控制系统研究
基金颁发部门:黑龙江省教育厅(10551330)
