关键词: 全向移动机器人, 模糊自适应控制器, 误差修正, 运动控制

Abstract: Due to the wheels distribution characteristics of the four-wheel drive omnidirectional mobile robot, the coupling relationship exists in the four-wheel, during the operation process， the overall stability of movement robot control and accuracy are not good. To solve this problem, this paper designs an error correction method based on fuzzy adaptive controller combined with the fuzzy control and PD control to make error correction for machine body online, thereby the integral error is reasonably distributed to single wheel according to the structure, and the overall error correction is transited into a single wheel error correction. Through the simulation of Matlab-Simulink, results show that, using the fuzzy adaptive controller error correction, the linear and angular velocity of the robot with following characteristics are obviously improved; the precision of the motion control is improved also.
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Key words: omnidirectional mobile robot, fuzzy adaptive controller, error correction, motion control