车辆横向动力学的自适应模糊神经控制方法

Chen-Sheng Ting, Chuan-Sheng Liu
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引用次数: 1

摘要

研究了自动转向车辆的自适应反步模糊控制方法。通过考虑轮胎力、车轮转动、前向速度和侧倾运动等非线性行为的八自由度横向动力学模型来描述车辆的横向动力学。根据已有的研究结果,由于该模型的复杂性,对其进行分析和设计比较困难。为了方便设计工作,研究了一种基于T-S模糊控制策略的鲁棒控制方案。基于李雅普诺夫方法,导出了保证控制系统一致最终有界的稳定条件。最后,通过数值算例验证了所提方法的有效性。
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An adaptive fuzzy-neural control approach for vehicle lateral dynamics
This study addresses an adaptive backstepping fuzzy control approach for automatic steering vehicles. The vehicle lateral dynamics is presented by an eight degree-of-freedom model, which considers the nonlinear behaviors such as tire force, wheel rotations, forward velocity, and roll motion. According to the existing result, the analysis and design on this model is difficult to perform because of its model complexity. To facilitate the designing work, a robust control scheme which is based on T-S fuzzy control strategy is investigated. The stability condition for ensuring that the control system is uniformly ultimately bounded is derived based on Lyapunov's method. Finally, the effectiveness of the proposed approach is verified via numeric examples.
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