基于模糊自适应控制的全向移动机器人的运动控制研究

摘要

由于四轮驱动全向移动机器人轮系分布的特点,四轮之间存在耦合关系,在运行过程中,机器人整体运动的稳定性及控制精度都不佳.针对此问题,本文设计一种基于模糊自适应控制器的误差修正方法,结合模糊控制和PD控制,在线对机器人体进行误差修正,并将整体误差按轮系结构分布合理分配到单个轮子上,从而将整体的误差修正转化为单个轮子的误差修正.通过在Matlab-Simulink环境下仿真实验表明,在使用模糊自适应控制器进行误差修正后,机器人对线速度及角速度的跟随性明显提高,改善了机器人运动控制的精度.%Due to the wheels distribution characteristics of the four-wheel drive omnidirectional mobile robot, the coupling relationship exists in the four-wheel, during the operation process, the overall stability of movement robot control and accuracy are not good. To solve this problem, this paper designs an error correction method based on fuzzy adaptive controller combined with the fuzzy control and PD control to make error correction for machine body online, thereby the integral error is reasonably distributed to single wheel according to the structure, and the overall error correction is transited into a single wheel error correction. Through the simulation of Matlab-Simulink, results show that, using the fuzzy adaptive controller error correction, the linear and angular velocity of the robot with following characteristics are obviously improved; the precision of the motion control is improved also.