移动机器人轨迹跟踪的模糊 PID-P 型迭代学习控制

摘要

Through the research of mobile robot trajectory tracking control problem ,this paper proposes fuzzy PID-P type open-closed loop nonlinear discrete iterative learning control (ILC) method based on the kinematic model of mobile robot .The PID-P type iterative learning convergence condition and certification procedure are presented .The fuzzy control principle is used to set PID parameters of three learning gain matrixes .This control method improves the ability of tracking repeatly specific trajectory for mobile robot ,and has the characteristics of simple algorithm .Simulation results show that the use of fuzzy open-closed-loop PID-P type iterative learning control algorithm for trajectory tracking is feasible and effective .%本文针对移动机器人轨迹跟踪控制问题的研究，提出了一种基于移动机器人运动模型的模糊开闭环PID-P型非线性离散迭代学习控制方法，给出了PID-P型迭代学习的收敛条件及其证明过程，并采用模糊控制的原理整定PID三个学习增益矩阵的参数。该控制方法提高了移动机器人对特定轨迹的重复跟踪能力，具有算法实现简单的特点。实验仿真结果表明，采用模糊开闭环PID-P型迭代学习控制算法对轨迹跟踪是可行有效的。