论文部分内容阅读
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。
Aiming at the motion control problem of wheeled mobile robot with parameter perturbation and external disturbance, a smart variable structure controller with multi-modal control and fuzzy PID control can be switched. Based on the kinematic characteristics of wheeled mobile robot, a control method combining multi-modal control and fuzzy PID control is proposed according to the error of wheeled mobile robot. At the same time, the multi-modal control divides the control modalities according to the changes of the errors, which is a control method that more rationally imitates human thinking. The simulation results show that compared with the traditional PID and fuzzy PID control methods, the influence of system parameters perturbation can be well compensated and the robot motion control quality is improved.