腿轮式机器人的自适应模糊控制

详细信息

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．
- 腿轮式机器人 /
- 自适应控制 /
- 模糊规则提取 /
- 轨迹跟踪
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.
- leg-wheeled robot /
- adaptive control /
- fuzzy rule extraction /
- trajectory following

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