农业机械学报2012，Vol.43Issue(2)：1-5,5.DOI:10.6041/j.issn.1000-1298.2012.02.001
智能车辆横向混合切换控制器设计
Mixed Lateral Controller Design for Intelligent Vehicle Based on Switching
摘要
Abstract
Considering the different dynamic performances of intelligent vehicle under various conditions, mixed switching lateral controller was designed that consists of optimal control law obtained through the linear quadratic form optimal track control theory and fuzzy control law obtained by fuzzy logic analysis. When the error and error rate was small, the steering controller was switched to optimal control law . When the error and error rate was greater than or equal to the threshold, the fuzzy control law was selected. Simulative researched on the lateral control algorithm of intelligent vehicle using ADAMS and Matlab/ Simulink co-simulation control, and tested by experimental. Simulation and experimental results showed that the unmanned vehicle controlled by the proposed algorithm could track the reference paths under various conditions accurately and riding quality.关键词
智能车辆/横向控制/切换控制/模糊控制/联合控制仿真Key words
Intelligent vehicle/ Lateral control/ Switching control/ Fuzzy control/ Co-simulation control分类
信息技术与安全科学引用本文复制引用
郭景华,胡平,李琳辉,王荣本,郭烈..智能车辆横向混合切换控制器设计[J].农业机械学报,2012,43(2):1-5,5.基金项目
国家自然科学基金重点资助项目(10932003、50901011)和国家重点基础研究发展计划(973计划)资助项目(2010CB832700) （10932003、50901011）
