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基于模糊逻辑的无人驾驶车纵向多滑模控制

, PP. 170-176

Keywords: 汽车工程,无人驾驶车,模糊逻辑,纵向控制,多滑模,切换

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Abstract:

?为实现车速跟踪期望值的控制目标,研究了含有参数和外部干扰等不确定性的无人驾驶车纵向运动控制问题。采用模糊多滑模控制策略设计基于油门与制动的无人驾驶车纵向运动控制算法。该算法利用模糊逻辑调节滑模增益系数,实现了对不确定性和外部干扰的估计和补偿,并利用Lyapunov稳定性分析方法证明了所得闭环系统的稳定性。最后构造油门控制与制动控制的切换策略以保证油门执行器与制动执行器之间的平滑过渡。分析结果表明:该控制算法可克服不确定性和干扰的影响,具有高精度和强鲁棒性。

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