Research on Synchronous Control System of Micro Soccer Robot

Soccer robot is one of the primary factors that effect the performance of robotic soccer system. When soccer robot that has two independent wheel control systems ran linearly, the different load and parameters would influence the accuracy and stability, especially in the centralized robotic soccer system. In order to overcome the limitation of traditional compensation control, a synchronous control system based on fuzzy control was presented. In this system, the PID control based on fuzzy reasoning is used in synchronous compensation, and the fuzzy neural network (FNN) is used in feedback control. The method united the fuzzy control and neural network, fuzzy control didn't build precise object model and can simulate the human experiences, and the neural network has the capabilities of self-learning and self-adaptation. So the FNN can adapt the change of parameters and disturbance. In order to prove the effectiveness of this controller, simulations have been done.