李金良, 吕恬生. 腿轮式机器人的自适应模糊控制[J]. 机器人, 2003, 25(2): 178-181.
引用本文: 李金良, 吕恬生. 腿轮式机器人的自适应模糊控制[J]. 机器人, 2003, 25(2): 178-181.
LI Jin-liang, LU Tian-sheng. ADAPTIVE FUZZY CONTROLLER FOR LEG-WHEELED MOBILE ROBOT[J]. ROBOT, 2003, 25(2): 178-181.
Citation: LI Jin-liang, LU Tian-sheng. ADAPTIVE FUZZY CONTROLLER FOR LEG-WHEELED MOBILE ROBOT[J]. ROBOT, 2003, 25(2): 178-181.

腿轮式机器人的自适应模糊控制

ADAPTIVE FUZZY CONTROLLER FOR LEG-WHEELED MOBILE ROBOT

  • 摘要: 提出了一种基于模糊神经网络(FNN)的腿轮式机器人轨迹跟踪控制方法.在利用常规PD控制器提取初始模糊规则的基础上,利用专家经验对初始规则进行补充,最后再利用误差的反向传播算法对参数进行在线的自适应调整.仿真计算证明该方法具有良好的轨迹跟踪精度和抗干扰能力.

     

    Abstract: We propose a fuzzy adaptive controller for trajectory following of leg-wheeled robot. The initial fuzzy rules are extracted by using a traditional PD controller. Then expert experiences are used to complement the rules. Finally the error back-propagation algorithm is used for on-line adaptive parameter tuning. Simulation results verify that this method has better trajectory following precision and better rejection of disturbance.

     

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