Research on the robot trajectory control method based on fuzzy control and improved NMPC algorithm
Due to the strong nonlinearity and coupling of the robot′s motion trajectory,and the inclusion of various uncertain factors in the motion process,research on robot trajectory control based on fuzzy control and improved NMPC is proposed.The motion trajectory equations are established through dynamic theory and gradually decompose trajectory position and attitude;virtual variables are designed based on trajectory errors and derive them to correct trajectory attitude errors;subsequently,fuzzy control is used to determine the membership function of variables and standardize the range of trajectory motion;finally,an improved NMPC was used to construct a control model and achieve robot trajectory control.Through experiments,it has been proven that this method can effectively track different types of trajectories and has important application value.
fuzzy controlimproved NMPC algorithmrobot trajectorytrajectory control
万方数据
维普
