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

• 湯 軍

  佐賀大学理工学部

• 渡辺 桂吾

  佐賀大学理工学部

• 中村 政俊

  佐賀大学理工学部

書誌事項

タイトル別名

• Trajectory Tracking Controls of a Mobile Robot with Two Independent Drive Wheels. Comparative Experiments Between the Computed Torque Control and the Fuzzy Control.
• Comparative Experiments Between the Computed Torque Control and the Fuzzy Control
• 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.

収録刊行物

• 日本ロボット学会誌

  日本ロボット学会誌 14 (2), 217-224, 1996

  一般社団法人 日本ロボット学会

キーワード

• Mobile Robot
• Computed Torque Control
• Fuzzy Control
• PID Control
• Path Tracking Control

詳細情報

• CRID: 1390282679702112000
• NII論文ID: 10011652027
• NII書誌ID: AN00141189
• DOI: 10.7210/jrsj.14.217
• ISSN: 18847145
• ISSN: 02891824
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可