自主汽车的侧向H∞自适应变论域模糊控制

H-infinity variable universe fuzzy control for lateral control of autonomous vehicle

中文关键词  变论域模糊控制  自适应  H_∞自主汽车

英文关键词  variable universe fuzzy control  adaptive fuzzy control  H-infinity autonomous vehicle

中文摘要

      自主侧向控制实现汽车自动调节转向和车道变换,是复杂的非线性控制系统.本文将变论域模糊控制,自适应技术和H_∞最优控制理论相结合对自主汽车的侧向系统进行控制,提高了系统的鲁棒性和控制精度.设计直接自适应变论域模糊控制器,利用Lyapunov稳定性理论证明了整个闭环系统的稳定性.然后与H_∞相结合,通过选取控制变量的权重因子,可以将逼近误差和外部扰动对跟踪误差的影响减小到任意给定的标准.最后把这种算法应用到了自主汽车的侧向系统的控制,仿真结果表明算法的实用性和有效性.

英文摘要

      Automatic steering control is a complex nonlinear system,which includes lane keeping and lane changing.An attempt is made to create the bridge between two important design techniques,i.e.H-infinity control design and fuzzy control design,so as to provide H-infinity control design with more intelligence and fuzzy control design with better robust performance.By Lyapunov method,the overall closed-loop system is shown to be stable.In the study,the effect of both fuzzy logic approximation error and external disturbance on the tracking error is attenuated to a prescribed level by adequately selecting the weighting factor.The simulation results of the lateral control of the autonomous vehicle are given to confirm that the control algorithm is feasible for practical application.