重庆理工大学学报：自然科学2012，Vol.26Issue(4)：91-95,103,6.
基于遗传算法的足球机器人模糊PID优化控制策略
Discussion of Fuzzy PID Controller Based on Genetic Algorithms for Soccer Robot
摘要
Abstract
An application of Fuzzy-PID based on genetic algorithms in soccer robot control is presen- ted based on soccer robot system after analyzing the kinematic model of soccer robots. The concrete implementation method of combining PID control with fuzzy control is put forward. The accuracy is en- sured by PID controller, whose performance can be enhanced with the kp, ki and kd key parameters which come from the fuzzy control. At the same time, this paper improved the control rules and mem- bership functions in the fuzzy control, so as to improve the reasonableness and the control precision of the system. Experimental results show that the control performance index based on GA is better than that of the general PID parameters tuning methods.关键词
足球机器人/模糊控制/遗传算法/参数优化Key words
soccer robot/fuzzy control/genetic algorithms/parameter optimization分类
信息技术与安全科学引用本文复制引用
张小川,魏建新,郭鲁,吴杰..基于遗传算法的足球机器人模糊PID优化控制策略[J].重庆理工大学学报：自然科学,2012,26(4):91-95,103,6.基金项目
国家自然科学基金资助项目 （）
重庆市教委科研项目 （）
