基于自适应模糊滑模的车辆横向控制方法  

Vehicle Lateral Control Method Based on Adaptive Fuzzy Sliding Mode

作　　者：高嵩[1] 刘海龙[1] 陈超波[1] 

机构地区：[1]西安工业大学电子信息工程学院,西安710021

出　　处：《控制工程》2017年第6期1164-1169,共6页Control Engineering of China

基　　金：陕西省国际科技合作重点项目(2015KW-024);西安市技术转移促进工程项目(CXY1441-3)

摘　　要：针对车辆横向控制数学模型的非线性和时变特性,在输入输出线性化方法和模糊系统逼近理论的基础上,利用自适应算法实时调整更新模糊系统参数,设计出了基于输入输出线性化的自适应模糊滑模控制系统。对车辆模型进行仿真分析,结果表明:车辆自身参数和外部环境因素虽然变化了,但系统仍能准确地跟踪期望路径,车辆横向偏差和方向偏差都快速趋于零。同时车辆的前轮转角抖振有效降低了82%~93%。Aimed to weaken the influence of time-varying and non-linear characteristics of the vehicle lateral control mathematical model, this paper designs an adaptive fuzzy sliding mode control system by using the input-output linearization algorithm and approximation theory. This controller uses the adaptive algorithm to adjust the parameters of the fuzzy system, which makes the control system have good performance against the system disturbance caused by inside and outside factors. The simulation results show that the system can accurately track the expected path even though the parameters of the vehicle and the external environment are changed. The vehicle lateral deviation and the direction deviation both approach to zero rapidly. At the same time the vehicle front wheel angle buffeting is effectively reduced by 82 % to 93 %.

关 键 词：输入输出线性化 自适应模糊滑模 横向偏差 方向偏差 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]