基于模糊自适应算法的移动物流操作平台协调控制研究  

Study on Coordinated Control for Mobile Logistic Operative Platform Based on Fuzzy Adaptive Algorithm

作　　者：陈志峰[1] 马良[2] 

机构地区：[1]哈尔滨商业大学能源与建筑学院,哈尔滨150028 [2]哈尔滨工业大学机器人研究所,哈尔滨150080

出　　处：《中国印刷与包装研究》2013年第4期119-123,共5页China Printing Materials Market

摘　　要：针对新型移动物流操作平台,本研究提出基于模糊自适应算法的协调控制器,以削弱微分几何方法对精确数学模型的依赖,实现在外部扰动及系统模型不精确的条件下,移动物流操作平台系统依然能得到较高的控制精度,使多移动物流操作平台系统能够保持全局稳定性并可以跟踪给定的期望轨迹。仿真实验结果证明了该控制器算法的可行性和有效性。In this study,coordinated controller based on a fuzzy adaptive algorithm was proposed for a novel mobile logistic operative platform.The proposed controller weakens the dependency on actuate mathematic model compared to differential geometry.And the control accuracy can be guaranteed with external interference and an inaccurate system model.The proposed controller can keep the platform global stableness and follow the given trajectory accurately.The simulation experiments results proved that the proposed controller algorithm is effective and feasible.

关 键 词：模糊自适应 移动物流操作平台 协调控制 

分 类 号：TB486.3[一般工业技术—包装工程] TM571[电气工程—电器]