Longitudinal Dynamic Control under Complex Driving Conditions via Fuzzy Logic Sliding-mode Control

被引：0
作者：
Zhang, Ruiqi [1 ]
Zhao, Yuzhuang [1 ]
Chen, Sizhong [1 ]
Wu, Zhicheng [1 ]
Yang, Lin [1 ]
机构：
[1] Beijing Inst Technol, Sch Mech Engn, Beijing 100081, Peoples R China
来源：
2019 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (ICMA) | 2019年
基金：
中国博士后科学基金; 国家重点研发计划;
关键词：
Vehicle model; Longitudinal control; Sliding-mode control; Fuzzy logic;
D O I：
10.1109/icma.2019.8816255
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
To track desired speed of autonomous vehicle, the longitudinal motion control algorithm was proposed based on the smooth switching between throttle actuator and brake actuator using sliding-mode control strategy. By adjusting the switching gain of the sliding-mode surface with fuzzy logic, the oscillation of the sliding-mode variable structure control system was effectively reduced. The stability of the closed-loop system was proved by Lyapunov method. The control effect was simulated under various driving processes. Simulation results show that the fuzzy logic sliding-mode control algorithm has high tracking accuracy and strong robustness even in the presence of uncertainties and external disturbances.
引用
收藏
页码：1161 / 1166
页数：6
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