Abstract
Based on state of robot, an improved tracking control method which takes the tracking error as an input and the drive voltage of the motor as an output is proposed. A theoretical domain deflation factor is added to automatically adjust the fuzzy controller, and the range of parameters was determined preliminarily by experimental measurement. Then the sparrow population was initialized by adding a reverse learning strategy, and a weight factor was designed to control the proportion of followers close to the finder to prevent precocity. The results show that the improved sparrow algorithm performs better than the original algorithm in terms of seeking accuracy and convergence speed under the test function. The method in this paper has a rapid reduction of the tracking error to zero, a smoother tracking process, and a faster arrival speed to the desired path. The method improves the working condition of the omnidirectional robot.
Publication Date
6-28-2021
First Page
114
Last Page
119,190
DOI
10.13652/j.issn.1003-5788.2021.06.019
Recommended Citation
Pin, ZHANG and Chang-yong, LI
(2021)
"Research on omnidirectional handling robot path tracking control based on improved fuzzy PID,"
Food and Machinery: Vol. 37:
Iss.
6, Article 19.
DOI: 10.13652/j.issn.1003-5788.2021.06.019
Available at:
https://www.ifoodmm.cn/journal/vol37/iss6/19
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