Path following control of mobile robots with model uncertaintybased on hierarchical fuzzy systems
Path following control of mobile robots with model uncertaintybased on hierarchical fuzzy systems
复制标题
DOI：
--
复制
发表时间：
2004
期刊：
影响因子：
--
通讯作者：
Sun Duo
中科院分区：
文献类型：
--
作者：
Sun Duo
研究了具有非完整约束和模型不确定性的移动的机器人的几何路径跟踪控制问题.基于递阶模糊系统，提出了一种鲁棒间接自适应控制方案来跟踪期望的几何路径，消除了可能的控制器奇异性，保证了路径的期望方向.在控制结构中引入了递阶模糊系统，中的规则数对标准模糊控制器进行了大量的简化，引入鲁棒控制项对模糊系统的逼近误差进行补偿，减小了逼近误差对跟踪精度的影响，证明了跟踪误差收敛到零的小邻域内，通过适当增大鲁棒控制项中的设计参数，可以减小跟踪误差，实验结果验证了递阶自适应模糊控制器的有效性。
Geometric path following control of mobile robots with nonholonomic constraints and model uncertainty is investigated.Based on hierarchical fuzzy systems,a robust indirect adaptive control scheme was developed to follow the desired geometric path,which removed the possible controller singularity and ensured the desired direction of the path.Having applied hierarchical fuzzy systems in the control architecture,the number of rules in a (standard) fuzzy controller was reduced greatly.A robust control term was used to compensate the approximation error of fuzzy systems,which could reduce the effect on tracking accuracy caused by the error.It was proved that the tracking error converged to the small neighbourhood of zero,and the tracking error could be decreased by enlarging properly design parameters in the robust control term.The test results verified the efficiency of the hierarchical adaptive fuzzy controller.