| 全方位移动机器人模糊自适应PID控制 |
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| 引用本文： | 吴定会,黄旭东,纪志成.全方位移动机器人模糊自适应PID控制[J].微特电机,2007,35(11):32-34,51. |
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| 作者姓名： | 吴定会 黄旭东 纪志成 |
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| 作者单位： | 江南大学,江苏无锡,214122 |
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| 摘 要： | 针对全方位移动机器人,结合PID和模糊控制两者的优点,提出了一种模糊自适应PID(FAPID)的控制方法。对模糊自适应PID控制算法进行了理论分析,基于Matlab建立了全方位移动机器人的简化仿真模型。仿真研究表明,采用模糊自适应PID控制方法,系统的调节时间缩短,响应速度加快,抗干扰能力和适应参数变化的能力要优于常规的PID控制。
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| 关 键 词： | 全方位移动机器人 模糊控制 模糊自适应PID控制 |
| 文章编号： | 1004-7018（2007）11-0032-03 |
| 修稿时间： | 2007-03-132007-04-13 |
Velocity Control of an Omnidirectional Mobile Robot Based on Fuzzy Adaptive PID |
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| WU Ding-hui,HUANG Xu-dong,JI Zhi-cheng.Velocity Control of an Omnidirectional Mobile Robot Based on Fuzzy Adaptive PID[J].Small & Special Electrical Machines,2007,35(11):32-34,51. |
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| Authors: | WU Ding-hui HUANG Xu-dong JI Zhi-cheng |
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| Affiliation: | Southern Yangtze University, Wuxi 214122, China |
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| Abstract: | Combining both the advantages of PID controller and fuzzy control,a fuzzy adaptive PID controller was proposed for control of an omnidirectional mobile robot.The algorithm of fuzzy adaptive PID control was analyzed.The simplified model of the omnidirectional mobile robot was established and the simulation was well done.The simulation results showed that such a fuzzy adaptive PID controller had the advantages of shortening the time for system adjustment and quickening the response speed,higher anti-interference ability and adaptability to parameters' changing than conventional PID controller. |
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| Keywords: | omnidirectional mobile robot fuzzy control fuzzy adaptive PID control |
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