基于模糊自适应PID算法的机器人运动控制

Proceedings of 2013 3rd International Conference on Computer Science and Network Technology Pub Date : 2013-10-01 DOI:10.1109/ICCSNT.2013.6967342

Lei Yanmin, Du Limin, Feng Zhibin

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引用次数: 2

摘要

以UP-Voyager II自主移动机器人为实验平台，提出了一种模糊自适应PID算法，并将其应用于机器人的运动控制。针对运动控制中的干涉性、时变性和非线性问题，提出了模糊自适应PID的设计方法。该方法可以通过模糊控制动态调节PID算法的比例系数(Kp)、积分系数(Ki)和导数系数(Kd)。实验结果表明，该方法能有效提高车轮转速的控制性能和控制精度。

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Motion control of robot based on fuzzy adaptive PID algorithm

The UP-Voyager II autonomous mobile robot as the experimental platform, a kind of fuzzy adaptive PID algorithm is presented and used for the robot's motion control. Aiming at the interferential, time varying and nonlinear problems in motion control, the design method of fuzzy adaptive PID is put forward. This method may dynamically adjust proportional coefficient (Kp), integral coefficient (Ki) and derivative coefficient (Kd) of PID algorithm by using fuzzy control. The experimental results show that this method can effectively improve the control performance and control precision of the wheel speed.

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Proceedings of 2013 3rd International Conference on Computer Science and Network Technology

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