基于区间Ⅱ型T-S模糊模型的立方体机器人自平衡控制

Self-balancing control of cubli robot based on interval Ⅱ T-S fuzzy model

立方体机器人具有非线性、多变量、强耦合和欠驱动结构不稳定等特性。针对坡面上以棱边为支点自平衡的立方体机器人的控制问题,设计了一种基于区间Ⅱ型T-S模糊模型的立方体机器人自平衡控制系统。首先,基于区间Ⅱ型T-S模糊模型对立方体机器人在坡面上以棱边为支点自平衡进行建模;然后,设计了基于区间Ⅱ型T-S模糊模型的状态反馈控制器,并通过粗糙集对控制器的模糊规则进行约简;最后,实验验证了本文所设计立方体机器人坡面控制系统的可行性。通过实验结果对比可知,相比于传统比例积分微分(PID)控制系统,本文所设计的基于区间Ⅱ型T-S模糊模型的控制系统能更好地处理立方体机器人系统的不精确性和外界扰动。

The cubli robot has the characteristics of nonlinearity, multi-variable, strong coupling and underactuated structure instability. Aiming at the control problem of the cubli robot with the edge as the fulcrum on the slope, a self-balancing control system of the cube robot based on the T-S fuzzy model of interval Ⅱ is designed. Firstly, based on the interval Ⅱ T-S fuzzy model, the self-balancing of the cubli robot on the slope with the edge as the fulcrum is modeled.Then, a state feedback controller based on the interval Ⅱ T-S fuzzy model is designed, and the fuzzy rules of the controller are reduced by the rough set. Finally, the experiment verifies the feasibility of the slope control system of the cube robot designed in this paper. Through the comparison of the experimental results, it can be seen that the designed control system based on the interval Ⅱ T-S fuzzy model can better deal with the inaccuracy and external disturbance of the cubli robot system compared with the traditional proportional integral derivative(PID) control system.