摘要
该文对轮式移动机器人提出了一种基于变增益的模糊PID轨迹跟踪控制方法。首先将常规PID分为PI和PD的组合,再把PID的输出转化为误差和误差变化率之和,然后设计增益随误差变化的自适应调节律,使得移动机器人跟踪期望的运动轨迹。最后通过实验验证了所提方法的有效性。
In this paper,a control method based on variable gain fuzzy PID is proposed for the wheeled mobile robot. Firstly,the conventional PID is divided into a combination of PI and PD,and then the output of the PID is converted into the sum of error and error rate. The gain of the designed fuzzy controller is adaptively adjusted with the error,so that the mobile robot tracks the desired motion trajectory. Finally,the experiment results show the effectiveness of the proposed control method.
作者
赵会超
师五喜
ZHAO Hui-chao;SHI Wu-xi(College of Electrical Engineering and Automation,Tianjin Polytechnic University,Tianjin 300387,China)
出处
《自动化与仪表》
2020年第2期32-36,51,共6页
Automation & Instrumentation
