五轮铰接式月球机器人(FWALR)的智能模糊控制  

Intelligent Fuzzy Control for the Five-Wheel Articulated Lunar Rover (FWALR)

作　　者：刘方湖[1] 陈建平[1] 马培荪[1] 祝捷[1] 姚沁[1] 

机构地区：[1]上海交通大学机械工程学院,上海200030

出　　处：《上海交通大学学报》2002年第3期297-301,共5页Journal of Shanghai Jiaotong University

摘　　要：提出了模糊比例变量的概念 ,利用此概念解决了室外复杂三维路径的模糊描述问题 ,并在此基础上用模糊数学理论解决了在月球微重力作用下、复杂三维地形中作业的 FWALR(五轮铰接式月球机器人 )的模糊控制问题 .仿真试验表明 。A new concept called fuzzy proportion variable was introduced. With the help of the new concept, the fuzzy depiction of a field 3 dimensional (3 D) complex path was solved. Based on it, and by fuzzy mathematics theory, the fuzzy control for the FWALR (five wheel articulated lunar rover) lunar rover operating on a 3 D complex terrain under lunar microgravity environment was completed. The simulation experiment of the fuzzy controller of the rover verifies the controller's effectiveness.

关 键 词：五轮铰接式月球机器人 FWALR 智能模糊控制 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]