基于Lyapunov稳定性的滑移转向移动机器人时变模糊控制器

2016 23rd International Conference on Mechatronics and Machine Vision in Practice (M2VIP) Pub Date : 2016-11-01 DOI:10.1109/M2VIP.2016.7827299

Fady Ibrahim, A. Abouelsoud, A. M. F. Elbab

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引用次数: 3

摘要

分析了滑移转向移动机器人的运动学模型。分析中考虑了瞬时旋转中心与SSMR质心相对位置的影响。然后，设计了一种基于Lyapunov稳定性判据的时变模糊控制器。利用Matlab-Simulink对闭环系统在不同初始条件下的点镇定进行了仿真。结果表明，该控制器在光滑轨迹下几乎达到零稳态误差。

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Time-varying fuzzy logic controller of skid-steering mobile robot based on Lyapunov stability

A kinematic model of a skid-steering mobile robot (SSMR) is analyzed. The influence of relative position between the instantaneous center of rotation and SSMR center of mass is considered in the analysis. Then, a time-varying fuzzy logic controller based on Lyapunov stability criterion is designed. The closed loop system is simulated using Matlab-Simulink on point stabilization from different initial conditions. Results show that the proposed controller reaches almost zero steady state error with smooth trajectory.

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来源期刊

2016 23rd International Conference on Mechatronics and Machine Vision in Practice (M2VIP)

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