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Research on point stabilization of a wheeled mobile robot using fuzzy control optimized by GA

The Journal of China Universities of Posts and Telecommunications 2011年第5期18卷 108-113页

作者： CAO Zheng-cai ZHAO Ying-tao FU Yi-li College of Infornaation Science and Technology Beijing University of Chemical Technology Beijing 100029 China The State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin 150001 China

A point stabilization scheme of a wheeled mobile robot （WMR） which moves on uneven surface is presented by using tuzzy control. Taking the kinematics and dynamics of the vehicle into account, the fuzzy controller is employed to regulate the robot based on a kinematic nonlinear state feedback control law. Herein, the fuzzy strategy is composed of two velocity control laws which are used to adjust the speed and angular velocity, respectively. Subsequently, genetic algorithm （GA） is applied to optimize the controller parameters. Through the self-optimization, a group of optimum parameters is gotten. Simulation results are presented to show the effectiveness of the control strategy.

关键词： wheeled mobile robot point stabilization fuzzy control genetic algorithm

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Adaptive point stabilization Control of Two-wheel Robot with Parameter Uncertainties Based on Human-simulated Intelligent Backstepping Method

Adaptive Point Stabilization Control of Two-wheel Robot with...

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第37届中国控制会议

作者： Song Ran Niu Wang Hua Pu Changwei Yin Tete Wang Tengfei Wang College of Automation Chongqing University

Aiming at the real-time optimization problems of two-wheeled robot point stabilization control with uncertain parameters, the adaptive control method based on Human-simulated Intelligence Backstepping（HSIB） control is proposed. A three-layer control structure is constructed by this method, The top layer is an intelligent decision layer that is designed based on multi-mode human-simulated intelligence. The middle layer is a backstepping adaptive current control layer designed on the basis of the dynamic model. The bottom layer is the motor actuator system. The control structure realizes the point-stabilization adaptive control of two-wheel mobile robot under uncertainty of system parameters. Through simulation and experiment, the control method proposed in this paper is compared with the conventional multi-mode human-simulated intelligent control method, and the validity of the method is proved.

关键词： point stabilization Two-wheel Robot Backstepping Adaptive Control Parameter Uncertainties

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