基于神经网络模糊PID的足球机器人控制算法研究

通过对足球机器人运动学模型进行分析,以足球机器人系统为实验平台,论证了神经网络模糊PID控制技术应用于足球机器人运动控制的可行性。将传统的PID控制与神经网络模糊控制相结合,通过PID算法实现控制的准确性,利用神经网络模糊控制提高控制的快速性与自适应性。针对足球机器人运动控制中的实际问题,着重提出了基于神经网络和模糊控制相结合动态调整PID控制器的三个参数KP,KI,KD的设计方法。实验证明该方法增强了控制器的调节能力和简化了控制器设计,同时本方法对模型和环境具有较好的适应能力和较强的鲁棒性。

Soccer Robot Control Algorithm Research Bashed on Neural Network Fuzzy-PID

An application of Neural Network Fuzzy-PID in Soccer robot control is presented based on soccer robot system after analyzing the kinematic model of soccer robots. The method combines PID control with NN fuzzy control. The accuracy is ensured by PID controller and the dynamic speed is improved by neural network fuzzy controller. At the same time, to resolve the problem of soccer robot-control, the methods of neural network and fuzzy are combined to dynamically regulate the three PID parameters (KP,KI,KD). The results of experiment indicated that the controller of Neural Network Fuzzy-PID evidently improved the control ability and simplify the design procedure, and as well enhanced adaptability and robustness to environments.