H/sub /spl infin//、自适应、PID和模糊控制:车辆车道保持控制器的比较

IEEE Intelligent Vehicles Symposium, 2004 Pub Date : 2004-06-14 DOI:10.1109/IVS.2004.1336370

S. Chaib, M. Netto, S. Mammar

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引用次数: 82

摘要

在本文中，我们提供了概述，并比较了四种控制器的车辆横向控制问题。通过试验轨道电路的仿真比较了H/sub /spl //、自适应控制器、模糊控制器和PID控制器。在模拟中引入了曲率和风的扰动以及速度和附着系数的变化。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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H/sub /spl infin//, adaptive, PID and fuzzy control: a comparison of controllers for vehicle lane keeping

We provide, in this paper an overview as well as a comparison of four controllers for the vehicle lateral control problem. H/sub /spl infin//, adaptive, fuzzy and PID controllers are compared by simulations over a test track circuit. Curvature and wind perturbations as well as variations on the speed and on the adherence coefficient are introduced in the simulations.

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IEEE Intelligent Vehicles Symposium, 2004

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