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国内外针对移动机器人轨迹控制主要存在动态时变反馈线性化、Backstepping反推控制、滑模变结构控制等几种主流的方法。尽管不少学者已经针对这些方法提出了一些改进,但仍然存在诸如模型不完整、无法抑制干扰、过分依赖于模型和实践中难以应用等缺点。文章利用模糊系统的万能逼近特性和易于实现的特点,提出了一种基于模糊系统的轨迹控制算法,解决了以前由于模型不完整、存在外部干扰而降低控制性能的问题。该算法利用Matlab进行了仿真验证,性能有显著提高。
At home and abroad, there are mainly main methods for trajectory control of mobile robot such as dynamic time-varying feedback linearization, backstepping backstepping control and sliding mode variable structure control. Although many scholars have proposed some improvements for these methods, there are still some shortcomings such as incomplete models, inability to suppress interference, over-reliance on models, and difficulties in practice. In this paper, based on the universal approximation property and the easy-to-implement characteristic of fuzzy system, a trajectory control algorithm based on fuzzy system is proposed to solve the problem of reducing control performance due to incomplete model and external disturbance. The algorithm is simulated by Matlab and the performance is improved obviously.