Neural-Fuzzy-Based Adaptive Sliding Mode Automatic Steering Control of Vision-based Unmanned Electric Vehicles  

作　　者：Jinghua Guo Keqiang Li Jingjing Fan Yugong Luo Jingyao Wang 

机构地区：[1]School of Aerospace Engineering,Xiamen University,Xiamen 361005,China [2]State Key Laboratory of Automotive Safety and Energy,Tsinghua University,Beijing 100084,China [3]School of Electrical and Control Engineering,North China University of Technology,Beijing 100144,China

出　　处：《Chinese Journal of Mechanical Engineering》2021年第5期56-68,共13页中国机械工程学报（英文版）

基　　金：Supported by National Basic Research Project of China(Grant No.2016YFB0100900);National Natural Science Foundation of China(Grant No.61803319);Shenzhen Municipal Science and Technology Projects of China(Grant No.JCYJ20180306172720364);Fundamental Research Funds for the Central Universities of China(Grant No.20720190015);State Key Laboratory of Automotive Safety and Energy of China(Grant No.KF2011).

摘　　要：This paper presents a novel neural-fuzzy-based adaptive sliding mode automatic steering control strategy to improve the driving performance of vision-based unmanned electric vehicles with time-varying and uncertain parameters.Primarily,the kinematic and dynamic models which accurately express the steering behaviors of vehicles are constructed,and in which the relationship between the look-ahead time and vehicle velocity is revealed.Then,in order to overcome the external disturbances,parametric uncertainties and time-varying features of vehicles,a neural-fuzzy-based adaptive sliding mode automatic steering controller is proposed to supervise the lateral dynamic behavior of unmanned electric vehicles,which includes an equivalent control law and an adaptive variable structure control law.In this novel automatic steering control system of vehicles,a neural network system is utilized for approximating the switching control gain of variable structure control law,and a fuzzy inference system is presented to adjust the thickness of boundary layer in real-time.The stability of closed-loop neural-fuzzy-based adaptive sliding mode automatic steering control system is proven using the Lyapunov theory.Finally,the results illustrate that the presented control scheme has the excellent properties in term of error convergence and robustness.

关 键 词：Vision-based unmanned electric vehicles Automatic steering Neural-fuzzy adaptive sliding control Vehicle lateral dynamics 

分 类 号：U463.4[机械工程—车辆工程] TP273[交通运输工程—载运工具运用工程]