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首页> 美国卫生研究院文献>Sensors (Basel Switzerland) >Robust ... formula ...-Fuzzy Logic Control for Enhanced Tracking Performance of a Wheeled Mobile Robot in the Presence of Uncertain Nonlinear Perturbations
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Robust ... formula ...-Fuzzy Logic Control for Enhanced Tracking Performance of a Wheeled Mobile Robot in the Presence of Uncertain Nonlinear Perturbations

机译：强大的...... - 在不确定非线性扰动存在下用于增强轮式移动机器人的跟踪性能的模糊逻辑控制

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摘要

Motion control involving DC motors requires a closed-loop system with a suitable compensator if tracking performance with high precision is desired. In the case where structural model errors of the motors are more dominating than the effects from noise disturbances, accurate system modelling will be a considerable aid in synthesizing the compensator. The focus of this paper is on enhancing the tracking performance of a wheeled mobile robot (WMR), which is driven by two DC motors that are subject to model parametric uncertainties and uncertain deadzones. For the system at hand, the uncertain nonlinear perturbations are greatly induced by the time-varying power supply, followed by behaviour of motion and speed. In this work, the system is firstly modelled, where correlations between the model parameters and different input datasets as well as voltage supply are obtained via polynomial regressions. A robust -fuzzy logic approach is then proposed to treat the issues due to the aforementioned perturbations. Via the proposed strategy, the controller and the fuzzy logic (FL) compensator work in tandem to ensure the control law is robust against the model uncertainties. The proposed technique was validated via several real-time experiments, which showed that the speed and path tracking performance can be considerably enhanced when compared with the results via the controller alone, and the with the FL compensator, but without the presence of the robust control law.
机译：如果需要高精度跟踪性能，则涉及DC电动机的运动控制需要具有合适的补偿器的闭环系统。在电动机的结构模型误差比来自噪声干扰的影响更大的情况下，精确的系统建模将是合成补偿器的相当辅助。本文的重点是提高轮式移动机器人（WMR）的跟踪性能，这是由两种直流电动机驱动的，该电机经受模型参数的不确定性和不确定的硬区。对于手头的系统，不确定的非线性扰动是通过时变电源的大大引起的，然后是运动和速度的行为。在这项工作中，首先建模系统，其中模型参数和不同输入数据集之间的相关性以及电压通过多项式回归获得。然后提出了一种强大的 - 努力逻辑方法，以治疗由于上述扰动而存在的问题。通过拟议的策略，控制器和模糊逻辑（FL）补偿器在串联中工作，以确保控制法对模型不确定性稳健。通过若干实时实验验证了所提出的技术，该实验表明，与单独的控制器的结果相比，可以显着提高速度和路径跟踪性能，并且用FL补偿器相比，但是没有稳健控制的存在法律。

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