基于变论域理论的自动倒车控制  

TRUCK BACKER-UPPER BASED ON VARIABLE-UNIVERSE FUZZY CONTROLLER

作　　者：杨昔阳[1] 尤晴曦[1] 李洪兴[1] 

机构地区：[1]北京师范大学数学科学学院,北京100875

出　　处：《北京师范大学学报（自然科学版）》2005年第4期348-350,共3页Journal of Beijing Normal University(Natural Science)

基　　金：国家自然科学基金资助项目(60174013);教育部博士点基金资助项目(20020027013);教育部科学技术重点项目(03184);国家重大基础研究规划资助项目(2002CB312200)

摘　　要：介绍了变论域自适应模糊控制器的基本思想,并且利用这种模糊控制理论———模糊控制中一个比较经典的问题,对倒车问题进行了仿真实验,其效果和普通模糊控制下的倒车仿真实验效果进行了比较.结果表明,变论域自适应模糊控制器具有相当的普适性,控制灵敏且几乎无超调.Truck backer-upper problem（TBU）, considered as an acknowledged benchmark in nonlinear system identification, is an excellent test-bed for fuzzy control systems. In this paper, another tool, variable-universe fuzzy controller, is introduced in the advanced automation toolbox. As an example of the application of this technology, a variable-universe fuzzy control system that automatically backs up a truck to a specified track is developed. Compared with the standard fuzzy controller, variable-universe fuzzy controller turns out to be readily responsive, extremely accurate, and widely applicable.

关 键 词：非线性系统 倒车 变论域自适应模糊控制器 仿真 

分 类 号：O231[理学—运筹学与控制论] O159[理学—数学]