基于模糊辨识的移动机器人轨迹控制算法的研究  

Research of Trajectory Control Algorithm of Mobile Robots Based on Fuzzy Identification

作　　者：楼巍[1] 陈磊[1] 严利民[1] 

机构地区：[1]上海大学机电工程及自动化学院,上海200072

出　　处：《仪表技术》2013年第1期18-20,24,共4页Instrumentation Technology

摘　　要：国内外针对移动机器人轨迹控制主要存在动态时变反馈线性化、Backstepping反推控制、滑模变结构控制等几种主流的方法。尽管不少学者已经针对这些方法提出了一些改进,但仍然存在诸如模型不完整、无法抑制干扰、过分依赖于模型和实践中难以应用等缺点。文章利用模糊系统的万能逼近特性和易于实现的特点,提出了一种基于模糊系统的轨迹控制算法,解决了以前由于模型不完整、存在外部干扰而降低控制性能的问题。该算法利用Matlab进行了仿真验证,性能有显著提高。Major methods of trajectory control at home and abroad are dynamic time-variant feedback linearization, backstepping control and sliding mode structure-variant control. Although many researchers have done great jobs impro- ving these methods, defects such as model incompleteness, disturbance-unendurable, precise model reliance, difficulty in practice and etc. still exist. A control rule based on fuzzy system is proposed in the paper, which is a universal ap- proximator and easy to be applied. Its performance is not badly affected by model incompleteness and external disturb- ance. Simulated validation is also performed through Matlab and the algorithm proves to be more effective.

关 键 词：移动机器人 轨迹控制 模糊系统 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]