计算机工程与应用2019，Vol.55Issue(16)：217-220,234,5.DOI:10.3778/j.issn.1002-8331.1903-0065
飞机牵引机器人路径跟踪模糊控制
Fuzzy Control for Path Tracking of Aircraft Traction Robot
摘要
Abstract
In order to improve the control accuracy of path tracking for aircraft ground automatic navigation, a pure pur-suit path tracking method for intelligent aircraft traction robot based on fuzzy adaptive control optimization is proposed. Firstly, a simplified two-wheel model of traction robot-aircraft is established, and the path tracking motion analysis is car-ried out. Based on this analysis, a path tracking controller based on adaptive fuzzy control is designed, which takes the velocity and trajectory error of traction robot-aircraft system as input and the predicted distance as output. The proposed method is validated by two simulation methods, geometry simulation and virtual prototype simulation. The results show that the path tracking error of the traction robot-aircraft system can be controlled at about 0.5 m when moving at variable speed, which fully meets the accuracy requirements of automatic traction and taxiing on the ground, and verifies the validity and adaptability of the proposed method.关键词
飞机牵引机器人/自动控制/路径跟踪/模糊控制/纯追踪算法Key words
aircraft tractor robot/ auto control/ path tracking/ fuzzy control/ pure pursuit algorithm分类
航空航天引用本文复制引用
张攀,刘新杰,张威,郑皓天..飞机牵引机器人路径跟踪模糊控制[J].计算机工程与应用,2019,55(16):217-220,234,5.基金项目
国家自然科学基金(No.U1533103) （No.U1533103）
天津市企业科技特派员项目(No.18JCTPJC68800) （No.18JCTPJC68800）
中央高校基本科研业务费项目(No.3122017025) （No.3122017025）
中国民航大学科研启动项目(No.2014QD10S). （No.2014QD10S）
