基于模糊PID的履带式机器人运动控制

Tracked Robot Motion Control Based on Fuzzy PID

目的:通过对履带式机器人的运动学模型分析,将模糊PID控制技术应用于履带式机器人运动控制。方法:将传统的PID控制与模糊控制相结合,运用到履带式机器人的运动控制系统中。结果:履带式机器人运动平稳,速度响应迅速。结论:通过Matlab仿真分析表明,该控制器和传统的PID相比,系统动态性能显著提高,同时控制性能良好。

Objective To apply fuzzy PID control technology in caterpillar robot motion control through the kinematics model analysis.Methods Traditional PID control and fuzzy control were combined for the motion control system of the tracked robot.Results The tracked robot was gifted with a stable motion and high speed.Conclusion Matlab simulation proves that the control unit behaves better than traditional PID in dynamics and controllability.