Motion Control of Wheeled Climbing Robot Based on Fuzzy Fractional Order PID
The motion control of wheeled climbing robot is based on fuzzy fractional PID,and the dy-namic equation of wheeled climbing robot is established by Lie group and Lie algebraic method,which helps to understand the motion characteristics of robot and provides the basis for controller design.A fuzzy fractional order PID controller is designed to convert the control signal into the torque output required by the control motor to satisfy the motion control of the climbing robot.In order to obtain better control effect,improved particle swarm optimization is used to optimize the parameters of fuzzy fractional order PID controller.The performance of the controller is improved by adjusting the inertia weight coefficient and learning factor to find the optimal solution of the parameters adaptively.The experimental results show that the optimized PID robot motion controller has lower control error,better motion control preci-sion,smaller expected angle error and displacement error,faster response,and can maintain the stable out-put of the system.
particle swarm optimizationwheeled climbing robotPID controllerrobot structuremotion control
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