火力与指挥控制2026，Vol.51Issue(1)：66-72,7.DOI:10.3969/j.issn.1002-0640.2026.01.008
特种机器人路径规划与跟踪控制算法设计
Algorithm Design for Path Planning and Tracking Control of Special-purpose Robots
摘要
Abstract
In order to improve the path tracking performance of mobile special-purpose robots,a robust fuzzy control algorithm based on actuator saturation is proposed.Firstly,a fuzzy optimization model is established using the T-S fuzzy model approach.Then,a robust control method based on Lyapunov stability theory is proposed to regulate system variables.In addition,the actuator saturation constraint mechanism is integrated with the controller to ensure the stable output of the control system.Finally,simulation tests are conducted to verify and evaluate the controller of the designed special-purpose robotic system.关键词
特种机器人/路径规划/路径跟踪/模糊控制/执行器饱和Key words
special-purpose robots/path planning/path tracking/fuzzy control/actuator saturation分类
自科综合引用本文复制引用
郭林炀,杨润贤,唐明军,花良浩,王丽霞..特种机器人路径规划与跟踪控制算法设计[J].火力与指挥控制,2026,51(1):66-72,7.基金项目
江苏省高等学校自然科学研究面上项目(22KJD510012) （22KJD510012）
江苏省教育厅高校青蓝工程项目(苏教师函[2022]29号) （苏教师函[2022]29号）
扬州市科技计划市校合作项目资助(YZ2022181) （YZ2022181）
