移动机器人编队控制的模糊补偿PID控制器

Proceedings of 2014 International Conference on Modelling, Identification & Control Pub Date : 2014-12-01 DOI:10.1109/ICMIC.2014.7020739

K. Bae, Yong-Baek Kim, Young-Kiu Choi

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引用次数: 6

摘要

本文提出了一种用于移动机器人编队控制的模糊补偿PID控制系统。该控制系统由基于leader-follower方法的运动学控制器和处理移动机器人动力学效应的动态控制器组成。为了使移动机器人保持理想的队形，在动态控制器上设置了PID控制器;然而，PID控制器在非线性和变化的环境中性能较差。为了提高控制性能，在系统中加入了模糊补偿器。最后，通过计算机仿真对所提出的控制系统进行了评估，以证明改进后的效果。

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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A fuzzy compensated PID controller for formation control of mobile robots

In this paper, a fuzzy compensated PID control system is proposed for formation control of mobile robots. The control system consists of a kinematic controller based on the leader-follower approach and a dynamic controller to handle dynamics effects of mobile robots. To maintain the desired formation of mobile robots, the dynamic controller is equipped with a PID controller; however, the PID controller has poor performance in nonlinear and changing environments. So a fuzzy compensator is added to improve control performance. Finally, the proposed control system has been evaluated through computer simulation to demonstrate the improved results.

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Proceedings of 2014 International Conference on Modelling, Identification & Control

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