移动机器人二类模糊PID控制器设计

IF 2.5 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

International Journal of Control Automation and Systems Pub Date : 2016-11-30 DOI:10.14257/ijca.2016.9.11.18

Min-Seok Jie, Wonyun Choi

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引用次数: 3

摘要

在各种工作环境下，移动机器人的自主驾驶具有重要意义。为了实现自动驾驶，移动机器人利用超声波传感器探测障碍物并避开障碍物。此外，也有研究利用基于智能系统的控制方法来补充防撞功能。本研究设计了二类模糊自整定PID控制器，增强了移动机器人在固定障碍物环境下的自动驾驶功能。模糊控制器采用多值型2型，并采用模糊自整定PID控制器调节PID控制器的增益值。为了提高硬件的功能，将25条规则减少到9条。采用2型模糊自整定PID控制器来比较传统PID控制器和1型模糊自整定PID控制器的功能。在规则数减少的2型模糊控制器的功能方面，通过MATLAB/Simulink对移动机器人自动驾驶功能的改进得到了验证。

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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Type-2 Fuzzy PID Controller Design for Mobile Robot

Autonomous driving of mobile robot is important in various working environments. For its autonomous driving, mobile robot utilized ultrasonic sensor to detect obstacles and avoid them. Also, there have been researches on supplementing function of avoiding crash by using control methods based on adoption of intellectual system. This research has designed type-2 fuzzy self-tuning PID controller which can enhance autonomous driving function of mobile robot under fixed obstacle environment. The fuzzy controller has utilized type-2 with multiple values and the fuzzy self-tuning PID controller adjusting gain value of PID controller is applied. 25 rules have been reduced to 9 rules to improve function of hardware. Type-2 fuzzy self-tuning PID controller is used to compare function of traditional PID controller and Type-1 fuzzy self-tuning PID controller. In terms of function of Type-2 fuzzy controller with reduced number of rules, it was confirmed through improvement in function of autonomous driving of mobile robot using MATLAB/Simulink.

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来源期刊

International Journal of Control Automation and Systems 工程技术-自动化与控制系统

CiteScore

5.80

自引率

21.90%

发文量

343

审稿时长

8.7 months

期刊介绍： International Journal of Control, Automation and Systems is a joint publication of the Institute of Control, Robotics and Systems (ICROS) and the Korean Institute of Electrical Engineers (KIEE). The journal covers three closly-related research areas including control, automation, and systems. The technical areas include Control Theory Control Applications Robotics and Automation Intelligent and Information Systems The Journal addresses research areas focused on control, automation, and systems in electrical, mechanical, aerospace, chemical, and industrial engineering in order to create a strong synergy effect throughout the interdisciplinary research areas.