非完整移动机器人轨迹跟踪的最优模糊控制  

An Optimized Fuzzy Control Approach to the Trajectory Tracking of Nonholonomic Mobile Robots

作　　者：吴忻生[1] 任华瑛[1] 

机构地区：[1]华南理工大学自动化科学与工程学院,广东广州510640

出　　处：《华南理工大学学报（自然科学版）》2004年第3期44-49,共6页Journal of South China University of Technology(Natural Science Edition)

基　　金：国家 8 6 3计划智能机器人主题 (980 5 - 19) ;国家自然科学基金资助项目 (6 9974 0 15 ) ;广东省自然科学基金资助项目 (990 5 83)

摘　　要：针对非完整机器人动力学的高度非线性、不确定性以及不能采用连续状态反馈实现渐近稳定等特点 ,提出了基于遗传算法的非完整移动机器人轨迹跟踪的最优模糊控制方案 .通过遗传算法对模糊规则进行优化 ,有效地确定出模糊逻辑控制器的结构和参数 ,从而达到理想的跟踪特性 .数字仿真实例表明这种方法是可行的 .Aiming at the high nonlinearity and uncertainty of the dynamics of nonholonomic mobile robots,as well as the fact that the robot can not be asymptotically stabilized by the continuous state feedback method,an optimized fuzzy control approach to the trajectory tracking of the robots was proposed on the basis of genetic algorithm. The fuzzy rules of the approach were optimized by genetic algorithm,and the structure as well as the parameters of the fuzzy logic controller was effectively determined,thus achieving desired tracking performance. The numerical simulation results indicate the efficiency of the proposed approach.

关 键 词：移动机器人 轨迹跟踪 模糊控制 遗传算法 

分 类 号：TP273.4[自动化与计算机技术—检测技术与自动化装置]