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基于模糊微分先行PD算法的移动机器人轨迹跟踪控制

Tracking Control of Mobile Robot Based on Fuzzy Differential Advanced PD Algorithms
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摘要 本文针对全方位轮式移动机器人的轨迹跟踪问题提出一种"模糊自整定的微分先行PD"的控制方法,并建立运动学控制模型,进行模糊微分先行PD算法控制器的设计,最后在MATLAB/Simulink中进行仿真。仿真结果表明,基于模糊微分先行PD算法对机器人轨迹跟踪控制是有效的。 Aiming at the trajectory tracking problem of omnidirectional wheeled mobile robot, this paper presented a control method of "fuzzy self-tuning differential advance PD", established a kinematics control model, designed the controller of fuzzy differential advance PD algorithm, and finally simulated it in MATLAB/Simulink. The simulation results showed that the trajectory tracking control based on fuzzy differential prior PD algorithm was effective.
作者 赵洪坤 窦忠宇 龙成万 ZHAO Hongkun;DOU Zhongyu;LONG Chengwan(Anshun College,Anshun Guizhou 561000)
机构地区 安顺学院
出处 《河南科技》 2018年第32期26-28,共3页 Henan Science and Technology
基金 安顺学院大学生SRT项目资助(2017SRT09)
关键词 移动机器人 模糊控制 轨迹跟踪 mobile robot fuzzy control trajectory tracking
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