| 轮式移动机器人的模糊控制器 |
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| 引用本文： | 南景富,梁滨,牛广林.轮式移动机器人的模糊控制器[J].黑龙江科技学院学报,2008,18(6). |
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| 作者姓名： | 南景富 梁滨 牛广林 |
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| 作者单位： | 1. 黑龙江科技学院,数力系,哈尔滨,150027
2. 哈尔滨市产品质量监督检验院,哈尔滨,150030 |
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| 摘 要： | 为准确反映移动机器人的实际运动情况,鉴于路径跟踪控制中可能出现的三类偏差.设计了两个模糊控制器,用以纠正移动机器人行走路径的偏差.MATLAB仿真结果表明:加入模糊控制器的系统,运动轨迹相对平缓、波动较小、收敛速度快.其动态和稳态输出特性均较好.该模糊控制器能够提高系统的控制精度,取得比较理想的控制效果.
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| 关 键 词： | 轮式移动机器人 模糊控制 仿真 |
Fuzzy controller design of wheeled mobile robots |
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| NAN Jingfu,LIANG Bin,NIU Guanglin.Fuzzy controller design of wheeled mobile robots[J].Journal of Heilongjiang Institute of Science and Technology,2008,18(6). |
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| Authors: | NAN Jingfu LIANG Bin NIU Guanglin |
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| Institution: | NAN Jingfu1,LIANG Bin2,NIU Guanglin1 (1.Department of Mathematics , Mechanics,Heilongjiang Institute of Science , Technology,Harbin 150027,China,2.Harbin Manufacture Quality Supervise Academe,Harbin 150030,China ) |
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| Abstract: | For the sake of reflecting the actual movement of wheeled mobile robots accurately,two fuzzy controllers were designed to correct the deviations of robot's mobile path by analyzing the three kinds of deviations possibly appearing in the control of the path tracing of wheeled mobile robots.The two systems with fuzzy controller and without fuzzy controller were analyzed and compared by MATLAB simulation,MATLAB simulation results showed that the track of the mobile robot with fuzzy control system was smooth an... |
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| Keywords: | wheeled mobile robots fuzzy control simulation |
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