南京理工大学学报（自然科学版）2012，Vol.36Issue(2)：226-231,6.
汽车驾驶机器人模糊车速跟踪控制方法
Fuzzy Velocity Tracking Control of Vehicle Robot Driver
摘要
Abstract
To enable the vehicle robot driver track the given vehicle speed under all kinds of conditions,a new fuzzy velocity tracking control method is proposed here. The robot driver calculates the speed error and its change rate from the target velocity provided by test driving cycles and the real measured-test vehicles. The demanded stretching displacements of the throttle pedal, the brake pedal,the clutch pedal,and the shift manipulator for the robot driver are obtained through fuzzy in-ferencing, and the precise positioning control of the robot driver is achieved. Experimental results show that the change of test conditions has little effect on the fuzzy velocity tracking control. The proposed method has strong anti-jamming capability, and can accurately track the given target velocity with the proper tracking error.关键词
汽车试验/驾驶机器人/车速跟踪/模糊控制Key words
vehicle tests/robot drivers/velocity tracking/fuzzy control分类
信息技术与安全科学引用本文复制引用
陈刚,张为公,常思勤..汽车驾驶机器人模糊车速跟踪控制方法[J].南京理工大学学报（自然科学版）,2012,36(2):226-231,6.基金项目
国家自然科学基金(51008143) （51008143）
中国博士后科学基金(2011M500922) （2011M500922）
南京理工大学自主科研专项计划(2011YBXM43) （2011YBXM43）
