摘要
本文针对全方位轮式移动机器人的轨迹跟踪问题提出一种"模糊自整定的微分先行PD"的控制方法,并建立运动学控制模型,进行模糊微分先行PD算法控制器的设计,最后在MATLAB/Simulink中进行仿真。仿真结果表明,基于模糊微分先行PD算法对机器人轨迹跟踪控制是有效的。
Aiming at the trajectory tracking problem of omnidirectional wheeled mobile robot, this paper presented a control method of "fuzzy self-tuning differential advance PD", established a kinematics control model, designed the controller of fuzzy differential advance PD algorithm, and finally simulated it in MATLAB/Simulink. The simulation results showed that the trajectory tracking control based on fuzzy differential prior PD algorithm was effective.
作者
赵洪坤
窦忠宇
龙成万
ZHAO Hongkun;DOU Zhongyu;LONG Chengwan(Anshun College,Anshun Guizhou 561000)
出处
《河南科技》
2018年第32期26-28,共3页
Henan Science and Technology
基金
安顺学院大学生SRT项目资助(2017SRT09)
关键词
移动机器人
模糊控制
轨迹跟踪
mobile robot
fuzzy control
trajectory tracking
