摘要
为了提高移动式特种机器人的路径跟踪性能,提出一种基于执行器饱和的鲁棒模糊控制算法。采用T-S模糊策略建立了模糊优化模型。提出一种基于李雅普诺夫稳定性的鲁棒控制方法来控制变量。此外,将执行器饱和的控制机制与控制器进行集成,以保证控制系统的稳定输出。仿真测试对设计特种机器人系统的控制器进行了验证和评估。
In order to improve the path tracking performance of mobile special-purpose robots,a robust fuzzy control algorithm based on actuator saturation is proposed.Firstly,a fuzzy optimization model is established using the T-S fuzzy model approach.Then,a robust control method based on Lyapunov stability theory is proposed to regulate system variables.In addition,the actuator saturation constraint mechanism is integrated with the controller to ensure the stable output of the control system.Finally,simulation tests are conducted to verify and evaluate the controller of the designed special-purpose robotic system.
作者
郭林炀
杨润贤
唐明军
花良浩
王丽霞
GUO Linyang;YANG Runxian;TANG Mingjun;HUA Lianghao;WANG Lixia(Jiangsu Province Engineering Research Center of Intelligent Application for Advanced Plastic Forming,Yangzhou 225000,China;College of Intelligent Manufacturing Yangzhou Polytechnic Institute,Yangzhou 225000,China;School of Electronics and Information Engineering,Changchun University of Science and Technology,Changchun 130022,China;Jiangsu Shuguang Electro-Optics Co.,LTD,Yangzhou 225000,China)
出处
《火力与指挥控制》
北大核心
2026年第1期66-72,共7页
Fire Control & Command Control
基金
江苏省高等学校自然科学研究面上项目(22KJD510012)
江苏省教育厅高校青蓝工程项目(苏教师函[2022]29号)
扬州市科技计划市校合作项目资助(YZ2022181)。
关键词
特种机器人
路径规划
路径跟踪
模糊控制
执行器饱和
special-purpose robots
path planning
path tracking
fuzzy control
actuator saturation
