基于自适应模糊的两轮直立式机器人直立平衡控制

针对两轮直立式机器人的直立平衡控制问题,提出了一种直接自适应模糊的控制方法,该方法对输入前的常数项无严格限制,经过实验证明,其可正可负,只需保证符号一致即可,可以是在某一个区间上满足李普希茨条件的函数. 仿真实验表明,即使机器人的初始角度很大甚至是平躺状态,该方案仍可以很好地控制机器人的直立平衡,并与传统的模糊控制效果进行了对比,结果表明,该方案有效提高了控制的稳定性,从理论上实现了机器人从基本平躺状态到直立平衡的稳定控制过程.

Upstanding-Balancing Control of Two-Wheeled Upstanding Robot Based on Adaptive Fuzzy Control Method

A method based on direct adaptive fuzzy control was proposed according to upstanding-balancing control problem for two-wheeled upstanding robot. There was not strict limit to the constant before input. Experiments showed that the item before input could be positive and negative, and could be a function satisfying Lipschitz condition in an interval with the same sign. The simulation showed that the method had a better control result for the robot even though the initial angle was larger. In contrast to the traditional fuzzy control, the scheme improved the stability effectively, and it was implemented that the stable control process for the two-wheeled upstanding robot from the almost recumbent state to upstanding and balancing state.