基于变模糊话语域的差动驱动移动机器人控制

2017 International Conference on Electrical Engineering and Computer Science (ICECOS) Pub Date : 2017-08-01 DOI:10.1109/ICECOS.2017.8167165

S. Nurmaini, Chusniah

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引用次数: 7

摘要

本文研究了一类非完整移动机器人的模糊逻辑控制器。基于拉格朗日和牛顿-欧拉方法建立了移动机器人的运动学和动力学方程。将具有动态话语域的模糊逻辑控制器应用于未知环境下移动机器人的姿态和力矩控制。结果表明，移动机器人的姿态和转矩可控制并产生良好的性能，使力稳态误差接近于零，位置误差约为ex(t) = 0.026129, ey(t) = 0,04387，姿态误差约为θ(t) =0,223065。

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Differential drive mobile robot control using variable fuzzy universe of discourse

The fuzzy logic controller with universe of discourses for a nonholonomic mobile robot has been presented in this paper. The mobile robot kinematic and dynamics equations are developed based on Lagrangian, and Newton-Euler approach. The fuzzy logic controller with dynamic universe of discourse is applied to control the posture and torque of mobile robot in unknown environment. The result shows that the posture and torque of mobile robot can be control and produce good performance to force steady state error close to zero with position error about ex(t) = 0.026129, and ey(t) = 0,04387, orientation error abouteθ(t) =0,223065.

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2017 International Conference on Electrical Engineering and Computer Science (ICECOS)

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