基于量子粒子群的斜坡上两轮移动机器人的广义二型模糊控制  

GENERAL TYPE-2 FUZZY CONTROL FOR A TWO-WHEELED MOBILE ROBOT BASED ON QPSO

作　　者：梁进榜 赵涛[1] Liang Jinbang;Zhao Tao(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》2022年第3期31-39,74,共10页Computer Applications and Software

基　　金：国家自然科学基金项目(61703291)。

摘　　要：两轮移动机器人(2WMR)本身具有多变量和非线性等特征,从而使其控制变得复杂。当2WMR在倾斜的表面上移动时,控制问题变得更加复杂。针对2WMR的非线性模型,设计2WMR的广义二型模糊逻辑平衡控制器和位置控制器。针对广义二型模糊逻辑控制器(GT2FLC)中前、后件中参数难以设定的问题,通过量子粒子群算法(QPSO)优化隶属函数中的参数。针对GT2FLC和区间二型模糊逻辑控制器(IT2FLC)在不同斜面上对移动2WMR的平衡和位置控制的效果进行进一步的对比分析,并干扰对控制效果的影响。仿真结果表明,GT2FLC具有更好的抗干扰能力。Two-wheeled mobile robot(2 WMR)has mutli-variable and non-linear characteristics which make its control complicated.The control problems become more complicated,when the 2 WMR moves on inclined surfaces.Aimmed at the nonlinear model of 2 WMR,general type-2(GT2)fuzzy balance controller and position controller are designed.It is difficult to determine the parameters in antecedent and consequent of the general type-2 fuzzy logic controller(GT2 FLC),thus,the quantum particle swarm optimization(QPSO)algorithm was utilized to optimize the parameters in the membership function of it.The control effect of GT2 FLC and interval type-2 fuzzy logic controller(IT2 FLC)on balance and position were compared under different inclined surfaces.The simulation results show that the GT2 FLC has better anti-interference abitity.

关 键 词：两轮移动机器人 广义二型模糊逻辑控制器 前件 后件 优化 量子粒子群算法 

分 类 号：TP3[自动化与计算机技术—计算机科学与技术] TP273.4