1. 毕业设计（论文）的内容和要求

（一）基本要求 本课题要求设计ＰＩＤ控制算法，使用matlab语言编写控制程序，并通过pid控制机械手臂。

（二）主要内容 1、熟悉程序设计语言 2、熟悉pid控制算法 3、使用m语言编程实现控制算验证，记录相应参数轨迹； 4、比较常规控制算法和此算法的优缺点。

（三）相关要求 1、阅读中外文相关文献10篇以上； 2、翻译外文文献一篇，译文3000汉字以上； 3、完成本课题的开题报告，不少于3000汉字； 4、按学校 ”综合论文类”撰写规范，完成本课题的毕业设计论文，要求论文12000汉字以上。

2. 参考文献

[1]. Wang Ting, C. Sabourin and K. Madani : A novel path planning approach for multi-robot based transportation，International Journal of Robotics and Automation, 2013, 28(3): 218~225. [2] Wang Ting, D. M. Ramik, C. Sabourin, K. Madani :Intelligent systems for industrial robotics: application in logistic field, Industrial Robot: An International Journal, 2012, 39 (3): 251 ~ 259. [3] Wang Ting, Sabourin C., Madani K.:ANFIS Controller for Non-holonomic Robots, Majlesi Journal of Electrical Engineering, North America, 2011, 5(2):31~37, 2011. [4] Ting W., Gautero F., Sabourin C., Madani K.:A Neural Fuzzy Inference based adaptive controller for nonholonomic robots, COMPUTING, Special Issue on Neural Networks and Artificial Intelligence, 2011,10(1): 56-65. [5] Ting W., Gautero F., Sabourin C., Madani K.:A Neural Fuzzy Inference based Adaptive Controller Using Learning Process for Nonholonomic Robots, Advances in Computational Intelligence, LNCS, Vol. 6691, Springer Verlag, 2011, pp.65-72. [6]Ting W., Ramik D.M., Sabourin C. and Madani K.:Machine-Learning for Heterogeneous Multi- Robots Systems in Logistic Application Frame”, 14th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines. 2011.10.01-10.03, paris, france. [7] Ting W., Gautero F., Sabourin C., Madani K.:A Neural Fuzzy Inference based Adaptive Controller Using Learning Process for Nonholonomic Robots, International Work-conference on Artificial Neural Networks (IWANN 2011), CD-Rom Proceedings, 2011. [8]Ting W., Sabourin C., Madani K.:Strategy Based on Machine-Learning for the Control of a Rigid Formation in a Multi-Robots Frame, Proceedings of International Conference on Informatics in Control Automation and Robotics, Netherlands, 2011.7.28 #8211; 31., 注：自行查阅补充8-10篇文献。

3. 毕业设计（论文）进程安排