| 模糊控制在移动机器人路径跟踪控制中的应用 |
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| 引用本文： | 周阳,师五喜.模糊控制在移动机器人路径跟踪控制中的应用[J].仪器仪表用户,2011,18(4):57-59. |
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| 作者姓名： | 周阳 师五喜 |
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| 作者单位： | 天津工业大学电气工程与自动化学院,天津,300160 |
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| 基金项目： | 天津市自然科学基金(10JCYBJC07400)资助 |
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| 摘 要： | 对含不确定性的移动机器人系统设计了自适应模糊路径跟踪控制方法,此方法采用模糊逻辑系统逼近控制器中的不确定函数,基于时变死区函数对模糊逻辑系统中的未知参数进行自适应调节,并对时变死区设计了自适应律。文中证明了此方法可使跟踪误差收敛到原点的小邻域内。仿真算例验证了此方法的有效性。
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| 关 键 词： | 移动机器人 路径跟踪控制 模糊控制 参数自适应律 时变死区 |
Application of fuzzy control in mobile robots path following control |
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| ZHOU Yang,SHI Wu-xi.Application of fuzzy control in mobile robots path following control[J].Electronic Instrumentation Customer,2011,18(4):57-59. |
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| Authors: | ZHOU Yang SHI Wu-xi |
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| Affiliation: | ZHOU Yang,SHI Wu-xi (School of Electrical Engineering and Automation,Tianjin Polytechnic Univ.,Tianjin 300160,China) |
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| Abstract: | An adaptive fuzzy path following control scheme is developed for mobile robots with model uncertainty.In this scheme,the fuzzy logic system is used to approximate the uncertainty function of controller,the parameters in fuzzy logic system are adjusted by time-varying dead-zone which its size is adjusted adaptively.The proposed design scheme guarantees that the tracking error converges to a small neighborhood of the origin.A simulation example is used to demonstrate the effectiveness of the proposed scheme. |
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| Keywords: | mobile robot path following control fuzzy control parameter adaptive law time-varying dead-zone |
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