基于模糊分数阶PID控制的轮式移动机器人轨迹跟踪研究

Research on Trajectory Tracking for Wheeled Mobile Robots Based on Fuzzy Fractional-order PID Control

轮式移动机器人的轨迹跟踪是目前学者研究的热点问题之一。为了使其能够按照预定设置目标轨迹进行移动,文章作者绘制了轮式移动机器人平面简图,建立其动力学模型;利用模糊规则对传统PID控制器加以改进,并根据模糊理论在线调整PID控制器参数,最终得到轮式移动机器人的最优控制参数;采取不同环境对轮式移动机器人跟踪误差进行仿真分析,检验模糊分数阶PID控制器的优势。研究结果显示:在无干扰波形中设置轮式移动机器人移动目标,两种控制效果差别不大。在有干扰波形中设置轮式移动机器人移动目标,PID控制器输出误差明显增大,而模糊分数阶PID控制器输出误差保持不变,可以看出模糊分数阶PID控制器能够更好地服务轮式移动机器人,使其具有强大的抗干扰能力,效果较好。

Trajectory tracking of wheeled mobile robots is one of the key issues in current research.To make robot move according to the preset trajectory,the thesis aims to draw a plane sketch of the robot and establish its dynamics model,and then improve the traditional PID controller by adjusting its parameters online according to fuzzy theory to obtain the optimal parameters so that it can resist the interference of external uncertainties.In the end,the simulation of the tracking error of the robot is carried out in different environments to test the advantages of the new controller.The results suggest that there is little difference between the two control effects when the robot’s target is set in a waveform without interference.However,the error of the traditional PID controller increases significantly when the robot’s target is set in the presence of disturbing waveform,while the error of the new controller remains unchanged.Accordingly,a conclusion can be drawn that the new controller possesses superior anti-disturbance capability,and thus can better serve the wheeled mobile robot.