【摘要】 针对非完整机器人动力学的高度非线性、不确定性以及不能采用连续状态反馈实现渐近稳定等特点 ,提出了基于遗传算法的非完整移动机器人轨迹跟踪的最优模糊控制方案 .通过遗传算法对模糊规则进行优化 ,有效地确定出模糊逻辑控制器的结构和参数 ,从而达到理想的跟踪特性 .数字仿真实例表明这种方法是可行的 .更多还原

【Abstract】 Aiming at the high nonlinearity and uncertainty of the dynamics of nonholonomic mobile robots,as well as the fact that the robot can not be asymptotically stabilized by the continuous state feedback method,an optimized fuzzy control approach to the trajectory tracking of the robots was proposed on the basis of genetic algorithm. The fuzzy rules of the approach were optimized by genetic algorithm,and the structure as well as the parameters of the fuzzy logic controller was effectively determined,thus achieving desired tracking performance. The numerical simulation results indicate the efficiency of the proposed approach.更多还原