基于多线性动态模型的随机模糊伺服控制

1998 Second International Conference. Knowledge-Based Intelligent Electronic Systems. Proceedings KES'98 (Cat. No.98EX111) Pub Date : 1998-04-21 DOI:10.1109/KES.1998.726011

Keigo Watanabe, K. Izumi, Fuha Han

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引用次数: 4

摘要

采用随机模糊控制方法，结合一些线性动态模型，描述了含噪声系统的模糊伺服系统。将模糊伺服控制方法应用于具有三个正交轮组的全向移动机器人的转角控制。针对移动机器人的一些仿真问题，提出了随机模糊伺服方法及其改进方法，并对模型置信度进行了静态评价。特别地，当一组预先指定的线性模型不包括与参考旋转角相当的模型时，给出了两种改进方法。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Stochastic fuzzy servo control using multiple linear dynamic models

A fuzzy servo system is described for a system with noises by using a stochastic fuzzy control method with some linear dynamic models. The fuzzy servo approach is applied to the control of rotational angle for an omnidirectional mobile robot with three orthogonal-wheel assemblies. The stochastic fuzzy servo method and its modified method with a static evaluation on the model confidence are implemented for some simulations of the mobile robot. In particular, two improvement methods are shown for the case when a set of the prespecified linear models does not include a model comparable to the reference rotational angle.

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来源期刊

1998 Second International Conference. Knowledge-Based Intelligent Electronic Systems. Proceedings KES'98 (Cat. No.98EX111)

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