考虑关节角加速度约束的移动机器人模糊控制方法研究  

Method of mobile robot fuzzy control considering joint angular acceleration constraint

作　　者：商巍[1] 孟祥祥 张道德[2] SHANG Wei;MENG Xiangxiang;ZHANG Daode(Aerospace Academy,Beijing Institute of Technology,Beijing 100086,China;School of Mechanical Engineering,Hubei University of Technology,Wuhan 430070,China)

机构地区：[1]北京理工大学宇航学院,北京100086 [2]湖北工业大学机械工程学院,湖北武汉430070

出　　处：《现代电子技术》2025年第8期145-148,共4页Modern Electronics Technique

基　　金：国家自然科学基金项目(52075152)。

摘　　要：在移动机器人的控制过程中,关节角加速度是一个重要的物理参数,其可以确保机器人在执行各种任务时始终保持在安全、合理的范围内,从而避免机器人因运动过快或不稳定而出现损坏或执行任务失败的情况。基于此,提出一种考虑关节角加速度约束的移动机器人模糊控制方法。依据移动机器人运动学方程计算移动机器人关节角加速度,同时以关节角加速度计算结果和期望关节角加速度之间的误差为约束,结合模糊算法设计模糊自适应增益调整的模糊控制器,结合自适应控制律实现移动机器人模糊控制。实验结果证明,所提方法可精准计算移动机器人关节角加速度,并确保移动机器人运行轨迹能精准跟踪目标运行轨迹,令运行速度快速稳定至设定值附近,控制效果较好。In the control process of the mobile robot,the joint angular acceleration is an important physical parameter,which can ensure that the robot is always kept in a safe and reasonable range when performing various tasks,so as to avoid the damage or task failure caused by the rapid or unstable movement of the robot.On this basis,a method of mobile robot fuzzy control considering the joint angular acceleration constraint is proposed.The joint angular acceleration of the mobile robot is calculated according to the kinematic equation of the mobile robot.The error between the calculation result of the joint angular acceleration and the expected joint angular acceleration is constrained,and the fuzzy controller with fuzzy adaptive gain adjustment is designed by means of the fuzzy algorithm.The fuzzy control of the mobile robot is realized by means of the adaptive control law.The experimental results show that this method can accurately calculate the joint angular acceleration of the mobile robot,ensure that the trajectory of the mobile robot can accurately track the trajectory of the target,and make the running speed quickly stabilize to the set value,with good control effect.

关 键 词：移动机器人 关节角加速度 模糊控制 运动轨迹 自适应控制律 模糊增益调整 

分 类 号：TN876-34[电子电信—信息与通信工程] TP242.6[自动化与计算机技术—检测技术与自动化装置]