Trajectory Tracking of Mobile Robots Based on Fuzzy PID-P Type Iterative Learning Control

LIU Guo-rong; ZHANG Yang-ming

doi:10.3969/j.issn.0372-2112.2013.08.013

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Trajectory Tracking of Mobile Robots Based on Fuzzy PID-P Type Iterative Learning Control

更新时间：2025-07-16

- Trajectory Tracking of Mobile Robots Based on Fuzzy PID-P Type Iterative Learning Control
- Acta Electronica Sinica Vol. 41, Issue 8, Pages: 1536-1541(2013)
- 作者机构：
  
  1. 湘潭大学信息工程学院,湖南,湘潭,411105
  2. 湖南工程学院,湖南,湘潭,411101
  3. 湘潭大学信息工程学院,湖南,湘潭,411105
  4. 湖南工程学院,湖南,湘潭,411101
- 作者简介：
- 基金信息：
  
  National Natural Science Foundation of China (No.51177040)
- DOI：10.3969/j.issn.0372-2112.2013.08.013
  CLC： TP242.6
- Published：2013
- 稿件说明：
移动端阅览
LIU Guo-rong, ZHANG Yang-ming. Trajectory Tracking of Mobile Robots Based on Fuzzy PID-P Type Iterative Learning Control[J]. Acta Electronica Sinica, 2013, 41(8): 1536-1541.
DOI：

LIU Guo-rong, ZHANG Yang-ming. Trajectory Tracking of Mobile Robots Based on Fuzzy PID-P Type Iterative Learning Control[J]. Acta Electronica Sinica, 2013, 41(8): 1536-1541. DOI： 10.3969/j.issn.0372-2112.2013.08.013.

摘要

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.

Abstract

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.

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