2輪独立駆動型移動ロボット車の軌道追従制御

トルク算出制御とファジィ制御の比較実験

抄録

Tracking controls for the speed and azimuth of a mobile robot driven by two independent drive wheels are experimentally attained by using a computed torque control and a fuzzy control. The computed torque controller can be easily derived by using the physical parameters for the mobile robot. However, the computed torque controller for the speed of the mobile robot can have only the P-servo controller. In order to improve the performance of such a controller, we introduce a computed torque controller having the D-servo compensator with respect to the speed error. A fuzzy controller is also applied to the present problem, in which the conclusion consists of a function of mean-values on each membership function in the antecedent. The effectiveness of two control methods is illustrated by some experiments and compared with the conventional PID control method.