模糊自适应在机器人行走平衡控制中的应用.PDFVIP

16 2012 ，48 （13） Computer Engineering and Applications 计算机工程与应用 模糊自适应在机器人行走平衡控制中的应用 1 2 蔡建羡 ，奥 顿 1 2 CAI Jianxian , AO Dun 1.防灾科技学院 防灾仪器系，河北 三河 065201 2.北京工业大学 电子信息与控制工程学院，北京 100124 1.Department of Disaster Prevention Instrument, Institute of Disaster Prevention, Sanhe, Hebei 065201, China 2.School of Electronic Information and Control Engineering, Beijing University of Technology, Beijing 100124, China CAI Jianxian, AO Dun. Fuzzy adaptive applied on robot walk-balancing control. Computer Engineering and Applications, 2012, 48 （13）：16-21. Abstract ：A control strategy based on Backstepping and PID is proposed according to the walk-balancing control problem of multi-variable and nonlinear two-wheeled robot system. In this strategy, fuzzy adaptive is added to Back- stepping controller. The unknown nonlinear function in the process of backstepping designing is approximated by fuzzy system, and the parameters of fuzzy system are adjusted based on adaptive law, which can solve the trouble that Backstepping controller is difficulty to implement because of the unknown parameters and avoid the problem that two-wheeled robot system doesn ’t satisfy the strict triangular structure. The results of the simulation experi- ments in the two-wheeled robot show that, the designed control strategy can realize the walk-balancing control task of two-wheeled robot. Key words ：Backstepping; fuzzy adaptive; two-wheeled robot; walk-balancing control 摘 要：针对多变量、非线性的两轮机器人系统的行走平衡控制问题，提出一种基于Backstepping （反推）方法 和PID 的控制策略。该策略在Backstepping 控制器中加入模糊自适应部分，利用模糊系统逼近Backstepping 设 计过程中的未知非线性函数，模糊系统中的参数基于自适应律调整，解决了Backstepping 控制器中因含有未知 参数难以实现的困难，避免了两轮机器人系统不满足严格三角结构的问题。针对两轮机器人的仿真实验结果 表明：采用设计的控制策略，可以实现两轮机器人的行走平衡控制任务。 关键词：反推；模糊自适应；两轮机器人；行走平衡控制 + 文章编号：1002-8331（2012 ）13-0016-06 文献标识码：A 中图分类号：TP273 .3