| 基于自适应滑模控制的智能车车道保持分析 |
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| 引用本文： | 张延召,毛建国,沈峘,顾筠,凌锐,张慧豫.基于自适应滑模控制的智能车车道保持分析[J].重庆工学院学报,2010(9). |
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| 作者姓名： | 张延召 毛建国 沈峘 顾筠 凌锐 张慧豫 |
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| 作者单位： | 南京航空航天大学车辆工程技术研究中心;江苏广播电视大学信息工程系; |
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| 基金项目： | 国家自然科学基金资助项目(50776044); 南京航空航天大学引进人才科研启动项目(70205845) |
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| 摘 要： | 针对目前智能车车道保持控制算法对参数摄动适应性不足的问题,提出一种基于模糊自适应调节的滑模控制方法。在建立车辆线性二自由度动力学模型的基础上,采用滑模变结构控制来提高车道保持控制器对参数摄动和未建模动态的适应性;利用模糊控制自适应调节滑模面的切换增益,降低控制抖振。仿真分析表明,提出的方法不仅能够显著降低传统滑模变结构控制器的抖振,而且对参数摄动和未建模动态具有较高的鲁棒性和适应性。
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| 关 键 词： | 智能车辆 车道保持 滑模变结构控制 模糊控制 |
Research on Intelligent Vehicle Lane Keeping Based on SMC of Fuzzy Adaptive Method |
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| ZHANG Yan-zhao,MAO Jian-guo,SHEN Huan,GU Jun,LING Rui,ZHANG Hui-yu.Research on Intelligent Vehicle Lane Keeping Based on SMC of Fuzzy Adaptive Method[J].Journal of Chongqing Institute of Technology,2010(9). |
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| Authors: | ZHANG Yan-zhao MAO Jian-guo SHEN Huan GU Jun LING Rui ZHANG Hui-yu |
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| Affiliation: | ZHANG Yan-zhao1,MAO Jian-guo1,SHEN Huan1,GU Jun2,LING Rui1,ZHANG Hui-yu1(1.Vehicle Technology Research Center,Nanjing University of Aeronautics , Astronautics,Nanjing 210016,China,2.Department of Information Engineering,JIANGSU Radio , TV University,Nanjing 210017,China) |
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| Abstract: | A2-DOF two-wheel model of the vehicle was established toimprove the adaptability of parameter perturbation and unmodeled dynamics for lane keeping controller by adopting the sliding variable structure control(SMC) algorithm.A fuzzy adaptive method is used to adjust switching gains of sliding surface,and reduce SMC's chattering.The simulation results indicate that the controller can reduce SMC's chattering greatly,and have excellent robustness for parameter perturbation and unmodeled dynamics. |
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| Keywords: | intelligent vehicle lane keeping sliding variable structure control fuzzy control |
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