Realization of point stabilization intelligence control for two-wheel robot

摘要

For the practical two-wheel RoboCup robot,we analyze the mathematical model of its double closed-loop controlled DC motor system.The existing saturations in velocity and acceleration are considered.Based on the human simulated intelligence control(HSIC)with Sensory-Motor Intelligence Schema,we propose a multisection proportioncontroller for the point stabilization of the two-wheel robot;the parameters of the controller are obtained by using the genetic algorithm(GA).The simulation results of the three controllers we designed-proportion-controller,proportioncosine-controller and the HSIC-controller are compared.The HSIC controller is applied to the practical RoboCup robot;the validity of the HSIC-controller is confirmed in the simulation and the real experimentation.