摘要
为解决气体绝缘封闭开关设备(GIS)腔体移动机器人的轨迹跟踪控制问题,提出一种基于优化算法的麦克纳姆轮全向移动机器人(MWOR)区间二型模糊跟踪系统。建立MWOR在腔体中的非线性模型,并设计相应的区间二型模糊逻辑控制器(IT2FLC);针对IT2FLC隶属度函数难以确定的问题,采用自适应粒子群优化(APSO)算法对隶属度函数进行优化。分别对MWOR在无扰动和有扰动时进行直线和圆轨迹跟踪的仿真实验。结果表明,该方法对MWOR具有很好的控制效果和抗干扰效果。
In order to solve the trajectory tracking control problem of gas insulated switchgear(GIS)cavity mobile robot,an interval type-2 fuzzy tracking system for Mecanum wheeled omnidirectional mobile robot(MWOR)based on optimization algorithm is proposed.The nonlinear model of MWOR in the cavity was established,and the corresponding interval type-2 fuzzy logic controller(IT2FLC)was designed.The membership function was optimized by adaptive particle swarm optimization(APSO)to solve the problem that membership function of IT2FLC was difficult to determine.The simulation experiments of MWOR on straight-line and circular trajectory tracking were carried out under the condition of no disturbance and disturbance respectively.The results show that the method has good control effect and anti-interference effect for MWOR.
作者
任江涛
佃松宜
郭斌
赵涛
蒋宗池
Ren Jiangtao;Dian Songyi;Guo Bin;Zhao Tao;Jiang Zongchi(School of Electrical Engineering,Sichuan University,Chengdu 610065,Sichuan,China)
出处
《计算机应用与软件》
北大核心
2023年第12期70-78,共9页
Computer Applications and Software
基金
国家重点研发计划项目(2018YFB1307401)。
