自動(dòng)化外文翻譯--對(duì)移動(dòng)式遙控裝置的智能控制使用2型模糊理論(存儲(chǔ)版)
【正文】 each variable and i= 1 ... 9. TABLE 1 FUZZY RULE SET In Table I, N means NEGATIVE, P means POSITIVE and C means ZERO. V. SIMULATION RESULTS Simulations have been done in Matlab174。+V(q,q)v+G(q)=? (1) Where q=? ??,yx T is the vector of generalized coordinates which describes the robot position, (x,y) are the cartesian coordinates, which denote the mobile center of mass and θ is the angle between the heading direction and the xaxis(which is taken counterclockwise form)。（直線(xiàn)為 x，虛線(xiàn)為 y） 圖 圖 圖 8. 速度錯(cuò)誤 : 實(shí)線(xiàn) : 錯(cuò)誤在 e, 虛線(xiàn) :錯(cuò)誤在 evw 圖 9 控制器的模擬板塊 圖 10三個(gè)變量的跟蹤錯(cuò)誤 圖 11 查找最優(yōu)的方案仿真 表 2為模糊控制器在 25個(gè)在不同環(huán)境下所產(chǎn)生的模擬結(jié)果。我們認(rèn)為初始位置 q和 初始速度 v。注意到防滑條件強(qiáng)加了一個(gè)不完整的約束，也就是說(shuō)這個(gè)移動(dòng)控制裝置只能夠朝著驅(qū)動(dòng)輪軸線(xiàn)的方向移動(dòng)。第四部分用追蹤控制器列舉了些模擬結(jié)果。此外，大多數(shù)被報(bào)道過(guò)的設(shè)計(jì)依賴(lài)于智能控制方式如模糊邏輯控制和神經(jīng)式網(wǎng)絡(luò)。 簽名： 年 月 日 附件 1：外文資料翻譯譯文 對(duì)移動(dòng)式遙控裝置的智能控制 —— 使用 2型模糊理論 摘要：我們針對(duì)單輪移動(dòng)式遙控裝置的動(dòng)態(tài)模型開(kāi)發(fā)出一種追蹤控制器，這種追蹤控制器是建立在模糊理論的 基礎(chǔ)上將運(yùn)動(dòng)控制器和力矩控制器整合起來(lái)的裝置。描述此約束的恒等式不能夠明確的反映出遙控裝置在局部及整體坐標(biāo)系中的關(guān)系。 在 2020年 12月 15日被視為標(biāo)準(zhǔn)并且在 2020年 3月 5日被公認(rèn)的手稿。 圖 1. 旋轉(zhuǎn)移動(dòng)機(jī)械 手 運(yùn)動(dòng)規(guī)律可見(jiàn)平面 5的運(yùn)動(dòng)方程式 qamp。追蹤控制器的大體結(jié)構(gòu)見(jiàn)圖 2 我們基于 Kanayama等人提議的程序和 Nelson等人解決運(yùn)動(dòng)模塊的追蹤問(wèn)題，這由 V表示出來(lái)。追蹤軌跡（見(jiàn)圖 7）也和預(yù)想的及其接近，速度錯(cuò)誤（見(jiàn)圖 8）減小至 0，達(dá)到了整個(gè)模擬過(guò)程中 1秒內(nèi)的控制目標(biāo)。在以后的工作中，圖 2中的控制結(jié)構(gòu)可以做些擴(kuò)展，比如說(shuō)增加些跟蹤的準(zhǔn)確性或工作性能。 to test the tracking controller of the mobile robot defined in (1). We consider the initial position q(0) = (0, 0, 0) and initial velocity v(0) = (0,0). From Fig. 5 to Fig. 8 we show the results of the simulation for the case 1. Position and orientation errors are depicted in the Fig. 5 and Fig. 6 respectively, as can be observed the errors are sufficient close to zero, the trajectory tracked (see Fig. 7) is very close to the desired, and the velocity errors shown in Fig. 8 decrease to zero, achieving the control objective in less than 1 second of the whole simulation. We show in Fig. 9 the Simulink block diagram to test the controller. We also show in Fig. 10 the tracking errors in the three variables. Finally, we show in Fig. 11 the evolution of the geic algorithm that was used to find the optimal parameters for the fuzzy controller. Fig. 5. Positions error with respect to the reference values. Solid: error in x, dotted: error in y. Fig. 6. Orientation error with respect to the reference values. Fig. 7. Mobile Robot Trajectory. Fig. 8. Velocity errors: Solid: error in e, dotted: error in evw Fig. 9 Simulink block diagram of the controller. Fig. 10 Tracking errors in the three variables. Fig. 11 Evolution of GA for finding optimal Controller In Table II we show simulation results for 25 experiments with different conditions for the gains of the fuzzy controller. We can also appreciate from this table that different reference velocities and positions were considered. TABLE II SIMULATION RESULTS FOR DIFFERENT EXPERIMENTS WITH THE FUZZY CONTROLLER. VI. CONCLUSIONS We described the development of a tracking controller integrating a fuzzy logic controller for a unicycle mobile robot with known dynamics, which can be applied for both, point stabilization and trajectory tracking. Computer simulation results confirm that the controller can achieve our objective. As future work, several extensions can be made to the control structure of Fig. 2, such as to increase the tracking accuracy and the performance level. REFERENCES [1] S. Bentalba, A. El Hajjaji, A. Rachid, Fuzzy Control of a Mobile Robot: A New Approach, Proc. IEEE Int. Conf. On Control Applications, Hartford, CT, pp 6972, October 1997. [2] A. M. Bloch, S. Drakunov, Tracking in NonHolonomic Dynamic System Via Sliding Modes, Proc. IEEE Conf. On Decision amp。=0sincos??000wv M(q)amp。 圖 。在表格 1中，我們表現(xiàn)了一種直線(xiàn)形式： Rule i: 假如 ev 是 G1 ， ew 是 G2 那么 F 是 G3 ， N 是 G4 Where G1..G4 are the fuzzy set associated to each variable and i= 1 ... 9. 表 1 模糊尺組 In Table I, N means NEGATIVE, P means POSITIVE and C means ZERO. 在 Matalb實(shí)現(xiàn)的模擬實(shí)驗(yàn)是用來(lái)測(cè)試移動(dòng)式遙控裝置的追蹤控制器（在（ 1）中已有定義）。等式（ 1， a）表示移動(dòng)控制裝
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