| 基于变增益模糊PID控制的移动机器人轨迹跟踪 |
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| 引用本文： | 赵会超,师五喜. 基于变增益模糊PID控制的移动机器人轨迹跟踪[J]. 自动化与仪表, 2020, 0(2): 32-36,51 |
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| 作者姓名： | 赵会超 师五喜 |
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| 作者单位： | 天津工业大学电气工程与自动化学院 |
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| 摘 要： | 该文对轮式移动机器人提出了一种基于变增益的模糊PID轨迹跟踪控制方法。首先将常规PID分为PI和PD的组合,再把PID的输出转化为误差和误差变化率之和,然后设计增益随误差变化的自适应调节律,使得移动机器人跟踪期望的运动轨迹。最后通过实验验证了所提方法的有效性。
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| 关 键 词： | 轮式移动机器人 轨迹跟踪 模糊PID控制 变增益 |
Trajectory Tracking of Mobile Robot Based on Variable Gain Fuzzy PID Control |
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| ZHAO Hui-chao,SHI Wu-xi. Trajectory Tracking of Mobile Robot Based on Variable Gain Fuzzy PID Control[J]. Automation and Instrumentation, 2020, 0(2): 32-36,51 |
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| Authors: | ZHAO Hui-chao SHI Wu-xi |
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| Affiliation: | (College of Electrical Engineering and Automation,Tianjin Polytechnic University,Tianjin 300387,China) |
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| Abstract: | In this paper,a control method based on variable gain fuzzy PID is proposed for the wheeled mobile robot. Firstly,the conventional PID is divided into a combination of PI and PD,and then the output of the PID is converted into the sum of error and error rate. The gain of the designed fuzzy controller is adaptively adjusted with the error,so that the mobile robot tracks the desired motion trajectory. Finally,the experiment results show the effectiveness of the proposed control method. |
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| Keywords: | wheeled mobile robot trajectory tracking fuzzy PID control variable gain |
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