| 移动机器人PID运动控制器参数的模糊自整定 |
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| 引用本文： | 高健,黄心汉,彭刚,杨涛,伍翼.移动机器人PID运动控制器参数的模糊自整定[J].华中科技大学学报(自然科学版),2004(Z1). |
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| 作者姓名： | 高健 黄心汉 彭刚 杨涛 伍翼 |
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| 作者单位： | 华中科技大学控制科学与工程系 华中科技大学控制科学与工程系 湖北武汉 湖北武汉 |
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| 摘 要： | 通过对移动机器人运动学模型进行分析 ,以基于视觉的双轮机器人为实验平台 ,论证了参数模糊自整定的PID控制技术应用于移动机器人运动控制中的可行性 .该方案根据控制要求 ,运用模糊推理技术 ,模仿人工整定控制器参数时的思维方式 ,对控制器参数进行调整 .不仅保证了准确性 ,提高了快速性 ,还增强了自适应能力 .实验证明此方法对移动机器人的运动控制是有效的 .
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| 关 键 词： | 移动机器人 模糊自整定 PID控制器 运动控制 |
Self-tuning PID controller based on fuzzy reasoning for motion control of mobile robots |
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| Gao Jian Huang Xinhan Peng Gang Yang Tao Wu Yi Postgraduate, Dept. of Control Sci. & Eng.,Huazhong Univ. of Sci. & Tech.,Wuhan ,China..Self-tuning PID controller based on fuzzy reasoning for motion control of mobile robots[J].JOURNAL OF HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY.NATURE SCIENCE,2004(Z1). |
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| Authors: | Gao Jian Huang Xinhan Peng Gang Yang Tao Wu Yi Postgraduate Dept of Control Sci & Eng Huazhong Univ of Sci & Tech Wuhan China |
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| Institution: | Gao Jian Huang Xinhan Peng Gang Yang Tao Wu Yi Postgraduate, Dept. of Control Sci. & Eng.,Huazhong Univ. of Sci. & Tech.,Wuhan 430074,China. |
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| Abstract: | The paper presents an application of self-tuning PID controller based on fuzzy reasoning in motion control of mobile robots, after analysing the kinematic model of mobile robots. Based on actual control requirements, the parameters of PID controller are adjusted automatically by the method, in which fuzzy reasoning is applied and the inference process of human being is impersonated. The accuracy is ensured and the dynamic speed is improved. Furthermore, the self-adaptive capabilitives is also enhanced. The validity is verified by simulation and experimental results in two-wheels mobile robot system. |
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| Keywords: | mobile robots fuzzy self-tuning PID control motion control |
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