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基于视觉导航的AGV模糊-最优控制研究 被引量:24
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作者 陈无畏 李碧春 +2 位作者 孙海涛 许张红 蒋浩丰 《中国机械工程》 EI CAS CSCD 北大核心 2006年第24期2546-2550,共5页
介绍了基于视觉导航的路径识别算法,该算法能够较好地计算出自动引导车的相对位置,并通过相对位置信息,运用模糊-最优控制策略来实现自动引导车的路径跟踪控制。不同条件下所做的大量仿真计算均表明,基于视觉导航的模糊-最优控制器工作... 介绍了基于视觉导航的路径识别算法,该算法能够较好地计算出自动引导车的相对位置,并通过相对位置信息,运用模糊-最优控制策略来实现自动引导车的路径跟踪控制。不同条件下所做的大量仿真计算均表明,基于视觉导航的模糊-最优控制器工作稳定、切换平滑、跟踪控制误差小且有较好的抵抗外界噪声干扰能力。 展开更多
关键词 自动引导车 视觉导航 路径跟踪 模糊-最优控制
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Fuzzy controller based on chaos optimal design and its application
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作者 邹恩 李祥飞 张泰山 《Journal of Central South University of Technology》 EI 2004年第1期98-101,共4页
In order to overcome difficulty of tuning parameters of fuzzy controller, a chaos optimal design method based on annealing strategy is proposed. First, apply the chaotic variables to search for parameters of fuzzy con... In order to overcome difficulty of tuning parameters of fuzzy controller, a chaos optimal design method based on annealing strategy is proposed. First, apply the chaotic variables to search for parameters of fuzzy contro-(ller,) and transform the optimal variables into chaotic variables by carrier-wave method. Making use of the intrinsic stochastic property and ergodicity of chaos movement to escape from the local minimum and direct optimization searching within global range, an approximate global optimal solution is obtained. Then, the chaos local searching and optimization based on annealing strategy are cited, the parameters are optimized again within the limits of the approximate global optimal solution, the optimization is realized by means of combination of global and partial chaos searching, which can converge quickly to global optimal value. Finally, the third order system and discrete nonlinear system are simulated and compared with traditional method of fuzzy control. The results show that the new chaos optimal design method is superior to fuzzy control method, and that the control results are of high precision, with no overshoot and fast response. 展开更多
关键词 fuzzy controller chaos algorithm PARAMETER optimal control
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