Research on Synchronous Control System of Micro Soccer Robot
Soccer robot is one of the primary factors that effect the performance of robotic soccer system.When soccer robot that has two independent wheel control systems ran linearly,the different load and parameters would influence the accuracy and stability,especially in the centralized robotic soccer system.In order to overcome the limitation of traditional compensation control,a synchronous control system based on fuzzy control was presented.In this system,the PID control based on fuzzy reasoning is used in synchronous compensation, and the fuzzy neural network (FNN)is used in feedback control. The method united the fuzzy control and neural network,fuzzy control needn t build precise object model and can simulate the human experiences,and the neural network has the capabilities of self-learning and self-adaptation.So the FNN can adapt the change of parameters and disturbance.In order to prove the effectiveness of this controller,simulations have been done.
micro soccer robot simulation fuzzy neural network synchronous control
Zhiyong Tang Zhongcai Pei Zhaoqin Peng Zhanlin Wang
School of Automation Science and Electrical Engineering Beijing University Of Aeronautics and Astronautics XueYuan Road No.37,HaiDian District,Beijng,China,100083,
国际会议
2007 IEEE International Conference on Automation and Lofistics
山东济南
英文
2007-08-18（万方平台首次上网日期，不代表论文的发表时间）