中文说明：本研究的目的是要设计的自动和精确的控制系统的车轮速度和农业移动机器人的转向。三个控制器，其中包括超前 - 滞后补偿器，比例 - 积分 - 微分（PID）和模糊逻辑控制器的设计和模拟在这项研究中，以控制直流电动机致动器的轴的角速度的实地调查移动机器人之间移动植物的行，通过数码相机安装在附着在机器人基座双连杆臂进行图像采集任务。每个控制器的致动器模型的响应进行了测定，并比较了正弦和分别模拟机器人速度和定位的引用一个步骤的输入。性能分析表明对轮转向任务PID和超前 - 滞后补偿器的响应的有效性，而模糊逻辑控制器的设计曾在车轮速度控制性能更好。这一分析的输出是所提出的设计准则，结果增强了机器人的移动性的响应速度快，速度控制精度和平滑的转向在行端屑方面已验证的满意度。
English Description：
The aim of this study was to design automatic and accurate control systems for wheel speed and steering of an agricultural mobile robot. Three controllers, including lead-lag compensator, Proportional-Integral-Derivative (PID) and fuzzy logic controller were designed and simulated in this study to control the angular rate of the shaft of a DC motor actuator for a field survey mobile robot that moves between plants rows to perform image acquisition task through a digital camera mounted on a two link arm attached on the robot base. The response of the actuator model for each controller were determined and compared for a sinusoidal and a step input that simulated robot speed and positioning references respectively. Performance analysis showed the effectiveness of the PID and lead-lag compensator response for the wheel steering task, while the fuzzy logic controller design had a better performance in wheel speed control. The output of this analysis was a prove