



摘" 要: 在移動機器人的控制過程中,關節角加速度是一個重要的物理參數,其可以確保機器人在執行各種任務時始終保持在安全、合理的范圍內,從而避免機器人因運動過快或不穩定而出現損壞或執行任務失敗的情況。基于此,提出一種考慮關節角加速度約束的移動機器人模糊控制方法。依據移動機器人運動學方程計算移動機器人關節角加速度,同時以關節角加速度計算結果和期望關節角加速度之間的誤差為約束,結合模糊算法設計模糊自適應增益調整的模糊控制器,結合自適應控制律實現移動機器人模糊控制。實驗結果證明,所提方法可精準計算移動機器人關節角加速度,并確保移動機器人運行軌跡能精準跟蹤目標運行軌跡,令運行速度快速穩定至設定值附近,控制效果較好。
關鍵詞: 移動機器人; 關節角加速度; 模糊控制; 運動軌跡; 自適應控制律; 模糊增益調整
中圖分類號: TN876?34; TP242.6" " " " " " " " "文獻標識碼: A" " " " " " " " " " " 文章編號: 1004?373X(2025)08?0145?04
Method of mobile robot fuzzy control considering joint angular acceleration constraint
SHANG Wei1, MENG Xiangxiang2, ZHANG Daode2
(1. Aerospace Academy, Beijing Institute of Technology, Beijing 100086, China;
2. School of Mechanical Engineering, Hubei University of Technology, Wuhan 430070, China)
Abstract: In the control process of the mobile robot, the joint angular acceleration is an important physical parameter, which can ensure that the robot is always kept in a safe and reasonable range when performing various tasks, so as to avoid the damage or task failure caused by the rapid or unstable movement of the robot. On this basis, a method of mobile robot fuzzy control considering the joint angular acceleration constraint is proposed. The joint angular acceleration of the mobile robot is calculated according to the kinematic equation of the mobile robot. The error between the calculation result of the joint angular acceleration and the expected joint angular acceleration is constrained, and the fuzzy controller with fuzzy adaptive gain adjustment is designed by means of the fuzzy algorithm. The fuzzy control of the mobile robot is realized by means of the adaptive control law. The experimental results show that this method can accurately calculate the joint angular acceleration of the mobile robot, ensure that the trajectory of the mobile robot can accurately track the trajectory of the target, and make the running speed quickly stabilize to the set value, with good control effect.
Keywords: mobile robot; joint angle acceleration; fuzzy control; motion trajectory; adaptive control law; fuzzy gain adjustment
0" 引" 言
移動機器人作為智能自動化技術的重要載體,已經在眾多領域展現出強大的應用潛力和價值[1]。在復雜多變的工作環境中,如何實現對移動機器人的精準、高效和穩定的控制,一直是研究者們關注的焦點[2?3]。文獻[4]結合了微分跟蹤器的快速響應與平穩過渡特性,以及移動機器人的運動學特性,能高效控制機器人運動軌跡。在實際應用中,該方法可以有效減少微分噪聲,避免復雜的數學模型引入,并便于實施。……