摘要
为降低不确定扰动等非线性因素对四轮全向移动机器人运动的影响,提出一种基于改进大脑情感学习速度控制器(IBELC)的运动控制方法.采用模糊控制方法在线调整IBELC中的权值学习率,根据机器人整体的速度误差实时地为四个轮子提供附加补偿量.仿真结果说明:通过实时地调整学习率IBELC能够获得更好的动态品质,大大减小不确定因素对机器人运动的影响,提高了系统的稳定性和跟踪精度.
A velocity controller was applied to motion control of four-wheel omnidirectional mobile robots in this paper.The controller was based on the improved brain-emotional-learning algorithm, whose learning steps were adapted online by fuzzy control approach.The improved brain emotional learning velocity controller(IBELC)could supply the additional control volume of each wheel to improve the motion control accuracy of whole robot.The comparison between IBELC and normalized brain-emotional-learning-based intelligent controller was shown via simulation,and the results show that IBELC has a better dynamic performance and higher tracking accuracy.
出处
《华中科技大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2013年第S1期9-12,共4页
Journal of Huazhong University of Science and Technology(Natural Science Edition)
基金
广东省自然科学基金资助项目(S2011010004006)
关键词
全向移动机器人
大脑情感学习
学习率
模糊规则
运动控制
omnidirectional mobile robots
brain emotional learning
learning ratio
fuzzy rules
motion control
