电子学报Issue(8)：1536-1541,6.DOI:10.3969/j.issn.0372-2112.2013.08.013
移动机器人轨迹跟踪的模糊 PID-P 型迭代学习控制
Trajectory Tracking of Mobile Robots Based on Fuzzy PID-P Type Iterative Learning Control
摘要
Abstract
Through the research of mobile robot trajectory tracking control problem ,this paper proposes fuzzy PID-P type open-closed loop nonlinear discrete iterative learning control (ILC) method based on the kinematic model of mobile robot .The PID-P type iterative learning convergence condition and certification procedure are presented .The fuzzy control principle is used to set PID parameters of three learning gain matrixes .This control method improves the ability of tracking repeatly specific trajectory for mobile robot ,and has the characteristics of simple algorithm .Simulation results show that the use of fuzzy open-closed-loop PID-P type iterative learning control algorithm for trajectory tracking is feasible and effective .关键词
移动机器人/迭代学习控制/轨迹跟踪/模糊控制Key words
mobile robot/iterative learning control/trajectory tracking/fuzzy control分类
信息技术与安全科学引用本文复制引用
刘国荣,张扬名..移动机器人轨迹跟踪的模糊 PID-P 型迭代学习控制[J].电子学报,2013,(8):1536-1541,6.基金项目
国家自然科学基金 （）
