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工程设计学报
Chinese Journal of Engineering Design  2006, Vol. 13 Issue (4): 224-227    DOI:
    
Research on soccer robot motion control based on fuzzyPID
 LIU  Zuo-Shi, KUANG  Xian-Yan, WU  Cui-Qin
School of Mechanical & Electrical Engineering, Jiangxi University of Science and Technology, Ganzhou 341000, China
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Abstract  Through analysis of kinematics model of soccer robot, considering time-lag, nonlinear and other characteristics of this system, control method combining fuzzy control with traditional PID control is put forward. By applying this control method into soccer robot, PID control guarantees its accuracy and fuzzy control realizes rapid control. Design process of fuzzy control system on soccerrobot is introduced with details and its algorithm is validated by simulation and soccer robot platform based on visualization. The results indicate that this method is feasible.

Key words： fuzzy-PID control      motion control      robot soccer     
Published: 28 August 2006
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LIU Zuo-Shi
KUANG Xian-Yan
WU Cui-Qin
Cite this article:

LIU Zuo-Shi, KUANG Xian-Yan, WU Cui-Qin. Research on soccer robot motion control based on fuzzyPID. Chinese Journal of Engineering Design, 2006, 13(4): 224-227.

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https://www.zjujournals.com/gcsjxb/     OR     https://www.zjujournals.com/gcsjxb/Y2006/V13/I4/224


基于模糊PID的足球机器人运动控制研究

通过对足球机器人运动学模型的分析，考虑到系统的时滞性、非线性等特点，提出将模糊控制和传统的PID控制相结合的控制方法，应用到足球机器人系统的运动控制中，通过PID控制实现控制的准确性，利用模糊控制提高控制的快速性。详细介绍了足球机器人模糊控制系统的设计过程，并在仿真和基于视觉足球机器人平台上对该算法进行了验证，结果表明了该方法的可行性。

关键词： 模糊PID控制,  运动控制,  足球机器人 
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