【摘要】 国内外针对移动机器人轨迹控制主要存在动态时变反馈线性化、Backstepping反推控制、滑模变结构控制等几种主流的方法。尽管不少学者已经针对这些方法提出了一些改进,但仍然存在诸如模型不完整、无法抑制干扰、过分依赖于模型和实践中难以应用等缺点。文章利用模糊系统的万能逼近特性和易于实现的特点,提出了一种基于模糊系统的轨迹控制算法,解决了以前由于模型不完整、存在外部干扰而降低控制性能的问题。该算法利用Matlab进行了仿真验证,性能有显著提高。更多还原

【Abstract】 Major methods of trajectory control at home and abroad are dynamic time-variant feedback linearization,backstepping control and sliding mode structure-variant control.Although many researchers have done great jobs improving these methods,defects such as model incompleteness,disturbance-unendurable,precise model reliance,difficulty in practice and etc.still exist.A control rule based on fuzzy system is proposed in the paper,which is a universal approximator and easy to be applied.Its performance is not badly affected by model incompleteness and external disturbance.Simulated validation is also performed through Matlab and the algorithm proves to be more effective.更多还原