摘要
以足球机器人系统为实验平台,论证了遗传算法模糊PID控制技术应用于足球机器人运动控制的可行性,并提出了具体实施方法。将传统PID控制与模糊控制相结合,通过PID算法提高控制准确性,通过模糊推理实现在线调整kp、ki、kd等关键参数,提高系统的控制性能。改进了模糊控制中的控制规则和隶属函数,提高了合理性和系统控制精度。仿真结果表明,该方法比一般PID控制方法具有更好的控制性能指标。
An application of Fuzzy-PID based on genetic algorithms in soccer robot control is presen- ted based on soccer robot system after analyzing the kinematic model of soccer robots. The concrete implementation method of combining PID control with fuzzy control is put forward. The accuracy is en- sured by PID controller, whose performance can be enhanced with the kp, ki and kd key parameters which come from the fuzzy control. At the same time, this paper improved the control rules and mem- bership functions in the fuzzy control, so as to improve the reasonableness and the control precision of the system. Experimental results show that the control performance index based on GA is better than that of the general PID parameters tuning methods.
出处
《重庆理工大学学报（自然科学）》
CAS
2012年第4期91-95,103,共6页
Journal of Chongqing University of Technology：Natural Science
基金
国家自然科学基金资助项目(60443004)
重庆市教委科研项目(KJ080621)
关键词
足球机器人
模糊控制
遗传算法
参数优化
soccer robot
fuzzy control
genetic algorithms
parameter optimization
