计算技术与自动化2011，Vol.30Issue(1)：21-25,5.
基于模糊PD控制的四轮驱动全向移动机器人速度补偿控制器研究
Velocity Compensate Controller of Four-wheel Drive Omni-directional Mobile Robots Based on Fuzzy-PD Control Method
摘要
Abstract
Four-wheel Drive Omni-directional Mobile Robots has mechanical difference in four wheels. Even each motor has the optimal parameter, the Robot may not be precisely controlled. This paper proposes an velocity compensate controller based on Fuzzy-PD control method, which can compensate velocity for each wheel real- timely at various error and error rate. The result of simulation experiment in Matlab-Simulink environmental illustrate that the Robot has a obvious improvement in following line speed and Angular velocity, as result, better performance in trajectory tracking.关键词
全向移动机器人/速度补偿嚣/模糊-比例微分控制/运动控制Key words
Omni-directional Mobile-robots/ velocity compensate controller/ Fuzzy-PD control/ motion control分类
信息技术与安全科学引用本文复制引用
匡建辉,杨宜民..基于模糊PD控制的四轮驱动全向移动机器人速度补偿控制器研究[J].计算技术与自动化,2011,30(1):21-25,5.
