Design and Simulation of the Soccer Robot Based on CMAC-PID Algorithm

摘要：

It is a key problem for robot soccer game that is the motion control of the soccer robots. A motion control method is proposed in this paper, which is based on CMAC-PID algorithm. First, analyzing the kinematic model of the soccer robot, It is sure that the method based on CMAC-PID algorithm can apply for the motion control of the soccer robots. Then we adopt the traditional PID controller to realize the feedback control and CMAC controller to realize the feed-forward control. Theory analysis and simulation results have shown that this method is superior to the traditional PID method, and it enhances the control precision of the system and has strong ability of anti-interference.

关键词： robot soccer CMAC (Cerebellar Model Articulation Controller) PID1

作者: XU Xinying XIE Jun XIE Keming

作者单位: College of Information Engineering, Taiyuan Universityof Technology, Taiyuan, 030024,

会议类型: 国际会议

会议名称: 第七届国际测试技术研讨会

会议地点: 北京

会议语种:英文

在线出版日期: 2007-08-05（万方平台首次上网日期，不代表论文的发表时间）