无人驾驶机器人机械腿模糊监督控制*

doi:10.19562/j.chinasae.qcgc.2019.05.007

Abstract

Abstract: To achieve precise control of the leg of a robot driver, a fuzzy supervisory control method is proposed. By kinematic analysis of the throttle /brake pedal of a driving robot manipulated by the mechanical leg, the kinematic relationship of each leg of mechanical legs is described and the Lagrange dynamic model of mechanical legs is established. On this basis, a fuzzy supervisory controller is designed. The stability of tracking error is verified by the principle of Lyapunov stability analysis, and the stability of displacement tracking is ensured. The fuzzy controller takes the displacement tracking error and the rate of error change as input. In the process of displacement tracking, the change trend of tracking error is monitored at all times. When the error does not exceed the given value, the fuzzy controller acts alone; when the error exceeds the given value, the fuzzy supervisory controller is used. Finally, a throttle/brake mechanical leg switch controller is designed, and the speed tracking simulation model of the accelerator/brake leg is built. By comparing the simulation results with the experimental data, the effectiveness of the proposed method is verified.

Key words: unmanned robot, dynamic model, fuzzy supervisory control, stability

Wang Herong, Chen Gang. Fuzzy Supervisory Control of Mechanical Legs of Unmanned Robots[J].Automotive Engineering, 2019, 41(5): 522-529.

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Fuzzy Supervisory Control of Mechanical Legs of Unmanned Robots

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