基于模糊CMAC的移动机器人轨迹跟踪控制

摘要

To deal with the trajectory tracking control problem for nonholonomic mobile robots, a tracking control strategy based on fuzzy CMAC is proposed. Fuzzy CMAC is used to approximate the nonlinearities and uncertainties in mobile robot’s dynamic model, combined with the velocity error, a torque controller is constructed, and a sliding item is used to compensate the influence of uncertainty robust. The stability and asymptotic convergency of tracking error is proven by using Lyapunov function, simulation results validate the proposed method.%针对受非完整约束的移动机器人的轨迹跟踪问题，提出了一种基于模糊CMAC的轨迹跟踪控制策略。该策略利用模糊CMAC神经网络逼近移动机器人动力学模型的非线性和不确定，同时与速度误差结合起来构成力矩控制器，并用滑模项来补偿不确定性扰动对系统的影响。李亚普诺夫稳定性定理保证了系统的稳定性和跟踪误差的渐近收敛，仿真结果进一步验证了所提方法的有效性。