摘要
国内外针对移动机器人轨迹控制主要存在动态时变反馈线性化、Backstepping反推控制、滑模变结构控制等几种主流的方法。尽管不少学者已经针对这些方法提出了一些改进,但仍然存在诸如模型不完整、无法抑制干扰、过分依赖于模型和实践中难以应用等缺点。文章利用模糊系统的万能逼近特性和易于实现的特点,提出了一种基于模糊系统的轨迹控制算法,解决了以前由于模型不完整、存在外部干扰而降低控制性能的问题。该算法利用Matlab进行了仿真验证,性能有显著提高。
Major methods of trajectory control at home and abroad are dynamic time-variant feedback linearization, backstepping control and sliding mode structure-variant control. Although many researchers have done great jobs impro- ving these methods, defects such as model incompleteness, disturbance-unendurable, precise model reliance, difficulty in practice and etc. still exist. A control rule based on fuzzy system is proposed in the paper, which is a universal ap- proximator and easy to be applied. Its performance is not badly affected by model incompleteness and external disturb- ance. Simulated validation is also performed through Matlab and the algorithm proves to be more effective.
出处
《仪表技术》
2013年第1期18-20,24,共4页
Instrumentation Technology
