两轮移动巡检机器人的区间二型模糊滑模控制  

INTERVAL TYPE-2 FUZZY SLIDING-MODE CONTROL OF TWO-WHEEL MOBILE INSPECTION ROBOT

作　　者：陈瑶[1] 毛雅洁 赵涛[1] 刘佳豪 Chen Yao;Mao Yajie;Zhao Tao;Liu Jiahao(Sichuan University,Chengdu 610065,Sichuan,China)

机构地区：[1]四川大学,四川成都610065

出　　处：《计算机应用与软件》2020年第10期27-33,56,共8页Computer Applications and Software

基　　金：国家自然科学基金项目(61703291)。

摘　　要：针对两轮移动巡检机器人的强耦合、欠驱动及非线性等特性,使用终端滑模控制器对其进行轨迹跟踪误差控制,但终端滑模控制器会使系统产生抖振现象,不利于实际应用。为了削弱甚至消除该现象,将区间二型模糊与终端滑模相结合,提出区间二型模糊滑模控制器。仿真结果显示,该控制器与一型模糊滑模控制器、终端滑模控制器相比,不仅能对机器人进行轨迹跟踪误差控制,而且其控制性能最佳。Aiming at the characteristics of strong coupling,under-actuation and nonlinearity of the two-wheel mobile inspection robot,this paper uses the terminal sliding mode controller to control its trajectory tracking error.However,the terminal sliding mode controller will cause chattering in the system,which is not conducive to practical applications.In order to weaken or even eliminate chattering phenomenon caused by terminal sliding mode,this paper combines the interval type-2 fuzzy logic controller with the terminal sliding mode controller,and proposes an interval type-2 fuzzy sliding mode controller.The simulation results show that compared with the type-1 fuzzy sliding mode and the terminal sliding mode controllers,our controller can not only control the trajectory tracking error of the robot,but also has the best control performance.

关 键 词：一型模糊控制 区间二型模糊控制 终端滑模控制 两轮移动巡检机器人 轨迹误差跟踪 

分 类 号：TP3[自动化与计算机技术—计算机科学与技术]