轮式移动机器人的直接模糊自适应输出反馈动力学控制

Direct fuzzy adaptive output feedback dynamics control for wheeled mobile robot

针对外界干扰造成的移动机器人控制系统复杂、适应性差等问题,提出了一种直接模糊自适应输出反馈控制方法。其核心思想是利用模糊数学理论对理想输入状态量进行逼近,同时利用Lyapunov法对系统误差的收敛性和系统的稳定性进行了证明,最后在MATLAB中针对所设计的WMR动力学控制系统进行仿真实验验证。结果表明在所设计的模糊控制器的作用下,运动系统的控制精度和响应速度有了显著提高。

A direct fuzzy adaptive control output feedback control method is proposed to solve the problems of complex and poor adaptability of mobile robot control system caused by external interference.It’s core idea is to use fuzzy mathematics theory to approximate the ideal state input.This control method can avoid the complexity of the system caused by the observation of different objects.Meanwhile,Lyapunov method is used to ensure the convergence of system errors and stability of the system.At last,the WMR dynamic control system is simulated and verified in MATLAB.The results show that the control accuracy and response speed of the system are effectively guaranteed under the action of the designed controller.