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针对月球车这个MIMO系统,考虑其在未知环境下的避障问题,设计了一个多级模糊控制器,将输入变量分组设计子模糊作为第1级,再将第1级的输出作为第2级的输入变量设计第2级子模糊系统,最后控制系统输出平移速度和角速度。这样就避免了常规模糊系统中规则数目过大和设计繁琐问题,提高了整个控制系统的性能。该控制器模糊规则数量少,控制方法简单,响应速度快。最后的实验证明了该方法的有效性。
For the MIMO system of lunar rover, considering its obstacle avoidance problem in unknown environment, a multi-stage fuzzy controller is designed. The input variable sub-module is designed as sub-fuzzy level 1, and the output of the first level is regarded as the second level Of the input variable design level 2 sub-fuzzy system, the final control system output translation speed and angular velocity. This avoids the conventional fuzzy system in the number of rules is too large and cumbersome design issues, improve the performance of the entire control system. The controller has a small number of fuzzy rules, a simple control method and a fast response speed. The final experiment proved the effectiveness of this method.