| 五轮铰接式月球机器人(FWALR)的智能模糊控制 |
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| 引用本文： | 刘方湖,陈建平,马培荪,祝捷,姚沁.五轮铰接式月球机器人(FWALR)的智能模糊控制[J].上海交通大学学报,2002,36(3):297-301. |
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| 作者姓名： | 刘方湖 陈建平 马培荪 祝捷 姚沁 |
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| 作者单位： | 上海交通大学,机械工程学院,上海,200030 |
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| 摘 要： | 提出了模糊比例变量的概念，利用此概念解决了室外复杂三维路径的模糊描述问题，并在此基础上用模糊数学理论解决了在月球微重力作用下、复杂三维地形中作业的FWALR（五轮铰接式月球机器人）的模糊控制问题。仿真试验表明，该模糊控制器控制效果良好。
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| 关 键 词： | 五轮铰接式月球机器人 FWALR 智能模糊控制 |
| 文章编号： | 1006-2467(2002)03-0297-05 |
| 修稿时间： | 2001年2月23日 |
Intelligent Fuzzy Control for the Five-Wheel Articulated Lunar Rover (FWALR) |
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| LIU Fang hu,CHEN Jian ping,MA Pei sun,ZHU Jie,YAO Qin.Intelligent Fuzzy Control for the Five-Wheel Articulated Lunar Rover (FWALR)[J].Journal of Shanghai Jiaotong University,2002,36(3):297-301. |
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| Authors: | LIU Fang hu CHEN Jian ping MA Pei sun ZHU Jie YAO Qin |
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| Abstract: | A new concept called fuzzy proportion variable was introduced. With the help of the new concept, the fuzzy depiction of a field 3 dimensional (3 D) complex path was solved. Based on it, and by fuzzy mathematics theory, the fuzzy control for the FWALR (five wheel articulated lunar rover) lunar rover operating on a 3 D complex terrain under lunar microgravity environment was completed. The simulation experiment of the fuzzy controller of the rover verifies the controller's effectiveness. |
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| Keywords: | lunar rovers mobile robots fuzzy control intelligent control |
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