摘要
针对新型移动物流操作平台,本研究提出基于模糊自适应算法的协调控制器,以削弱微分几何方法对精确数学模型的依赖,实现在外部扰动及系统模型不精确的条件下,移动物流操作平台系统依然能得到较高的控制精度,使多移动物流操作平台系统能够保持全局稳定性并可以跟踪给定的期望轨迹。仿真实验结果证明了该控制器算法的可行性和有效性。
In this study,coordinated controller based on a fuzzy adaptive algorithm was proposed for a novel mobile logistic operative platform.The proposed controller weakens the dependency on actuate mathematic model compared to differential geometry.And the control accuracy can be guaranteed with external interference and an inaccurate system model.The proposed controller can keep the platform global stableness and follow the given trajectory accurately.The simulation experiments results proved that the proposed controller algorithm is effective and feasible.
出处
《中国印刷与包装研究》
CAS
2013年第4期119-123,共5页
China Printing Materials Market
关键词
模糊自适应
移动物流操作平台
协调控制
Fuzzy adaptive
Mobile logistic operative platform
Coordinated control
