Motion Control of Robot Based on Fuzzy Adaptive PID Algorithm

被引：0
|
作者：
Lei Yanmin [1 ]
Du Limin [1 ]
Feng Zhibin [2 ]
机构：
[1] Changchun Univ, Dept Elect Informat Engn, Changchun, Peoples R China
[2] Air Force Aviat Univ, Flight Fundamental Training Base, Changchun, Peoples R China
来源：
2013 3RD INTERNATIONAL CONFERENCE ON COMPUTER SCIENCE AND NETWORK TECHNOLOGY (ICCSNT) | 2013年
关键词：
autonomous mobile robot; fuzzy adaptive PID; motion control;
D O I：
暂无
中图分类号：
TP3 [计算技术、计算机技术];
学科分类号：
0812 ;
摘要：
The UP-Voyager II autonomous mobile robot as the experimental platform, a kind of fuzzy adaptive PM algorithm is presented and used for the robot's motion control. Aiming at the interferential, time varying and nonlinear problems in motion control, the design method of fuzzy adaptive PM is put forward. This method may dynamically adjust proportional coefficient (K-p), integral coefficient (K-i) and derivative coefficient (K-d) of PM algorithm by using fuzzy control. The experimental results show that this method can effectively improve the control performance and control precision of the wheel speed.
引用
收藏
页码：1310 / 1313
页数：4
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