含模型不确定性移动机器人路径跟踪的分层模糊控制

对受非完整约束且含模型不确定性的移动机器人基于分层模糊系统设计了跟踪期望几何路径的鲁棒间接自适应控制方案.此方法除实现路径跟踪外,还可避免控制器的奇异性并保证跟踪方向.由于控制结构中使用了分层模糊系统,大大减少了模糊规则数目;并用鲁棒控制项对模糊系统逼近误差进行补偿,减少了其对跟踪精度的影响.证明了闭环系统跟踪误差收敛到原点的小邻域内,且可通过适当增大鲁棒控制项的设计参数使跟踪误差进一步减小.最后用实验结果验证了方法的有效性.

Path following control of mobile robots with model uncertaintybased on hierarchical fuzzy systems

Geometric path following control of mobile robots with nonholonomic constraints and model uncertainty is investigated.Based on hierarchical fuzzy systems,a robust indirect adaptive control scheme was developed to follow the desired geometric path,which removed the possible controller singularity and ensured the desired direction of the path.Having applied hierarchical fuzzy systems in the control architecture,the number of rules in a (standard) fuzzy controller was reduced greatly.A robust control term was used to compensate the approximation error of fuzzy systems,which could reduce the effect on tracking accuracy caused by the error.It was proved that the tracking error converged to the small neighbourhood of zero,and the tracking error could be decreased by enlarging properly design parameters in the robust control term.The test results verified the efficiency of the hierarchical adaptive fuzzy controller.