基于模糊滑模控制的智能车辆轨迹跟踪控制研究
Study of Intelligent Vehicle Trajectory Tracking Based on Fuzzy Synovial Control
孙岐峰 1段敏 1张博涵 2周俊安1
作者信息
- 1. 辽宁理工职业大学 汽车学院,辽宁 锦州 121200
- 2. 辽宁工业大学 汽车与交通工程学院,辽宁 锦州 121001
- 折叠
摘要
为了提高轨迹跟踪控制算法的实用性和控制精度,解决车辆在行驶过程中对目标路径跟踪精度不足的问题,设计了一种基于模糊滑膜控制的轨迹跟踪控制器.采用MATLAB/Simulink与CarSim的联合仿真,分别用模糊滑膜和滑模控制对比来验证本文设计的轨迹跟踪控制器.结果表明:模糊滑膜控制的轨迹跟踪误差小,在车身稳定性控制方面效果良好.
Abstract
In order to improve the practicability and control accuracy of trajectory tracking control algorithm and solve the problem of insufficient tracking accuracy of target path during vehicle running,a trajectory tracking controller based on fuzzy synovial control was designed.MATLAB/Simulink and CarSim co-simulation were used to verify the trajectory tracking controller designed in this paper by comparing fuzzy synovial and sliding mode control respectively.The results show that the trajectory tracking error of fuzzy synovial control is small,and the effect of fuzzy synovial control is good in vehicle stability control.
关键词
轨迹跟踪/智能车辆/滑模控制/模糊控制Key words
trajectory tracking/intelligent vehicle/synovial control/fuzzy control引用本文复制引用
基金项目
国家级大学生创新创业训练计划项目(202312595009)
出版年
2024
NETL
NSTL
维普
万方数据