摘要
针对腿轮式机器人的动力学模型比较复杂 ,难以精确的建立数学模型 ,提出了一种基于模糊规则的新型自调整PID控制器用于机器人腿部末端的位置跟踪控制。该控制器利用人的经验和知识实时调整PID参数 ,从而改善控制系统的性能 ,提高控制器的适应能力。仿真实验表明该方法具有良好的轨迹跟踪精度和抗干扰能力。
We proposed a fuzzy adaptive PID controller with gravity compensation for trajectory following of leg-wheeled mobile robot to deal with its' complicated dynamics. The controller use peoples' experience and knowledge to tune PID parameters in real time for improved control quality and adaptability. Simulation result verifies that this method has better trajectory following precision and better rejection of disturbance.
出处
《机床与液压》
北大核心
2003年第4期198-199,203,共3页
Machine Tool & Hydraulics
