摘要
针对参数摄动和存在外部扰动的轮式移动机器人的运动控制问题,设计一种多模态控制和模糊PID控制可相互切换的智能变结构控制器。从轮式移动机器人的运动学特性出发,根据轮式移动机器人误差的状况,提出多模态控制和模糊PID控制相结合的控制方法。同时,多模态控制按照误差的变化情况来划分控制模态,是一种更加合理地模仿人思维的控制方法。仿真结果表明,与传统的PID和模糊PID控制方法相比,能较好地弥补了系统参数摄动的影响,提高了机器人运动控制品质。
Based on the wheeled mobile robots with parameter perturbation and external disturbances, an intelligent variable structure control scheme was proposed which can be switched between multi-mode control and fuzzy PID control. According to the error changes, the method of this article, basing on the wheeled mobile robot kinematic character, is proposed combining multi-mode control and fuzzy PID control. Meanwhile, according to the error changes the control models are divided, which is a more reasonable way to imitate the human mind to control. According to Simulation results, the method of this article. Moreover, the simulation results show that the proposed method greatly compensates the effects of parameter perturbation and improves the quality of the robot motion control, in comparison with traditional PID control and fuzzy PID control method.
出处
《控制工程》
CSCD
北大核心
2013年第3期553-557,561,共6页
Control Engineering of China
基金
重庆市自然科学基金重点项目(cstc2012jjB40002)
