We found a match
Your institution may have access to this item. Find your institution then sign in to continue.
- Title
车辆轨迹的预瞄与模糊分数阶比例 ̄积分 ̄微分控制: 7056.
- Authors
罗鹏; 李擎; 董禄
- Abstract
In order to improve the precision of trajectory control of unmanned vehicle, a vehicle path tracking method based on preview error modeling and fuzzy fractional proportion-integration-differentiation(PID) control was proposed. According to vehicle dynamics characteristics and considering actuator constraints, a preview lateral error model was introduced. Taking preview lateral error as input and front wheel angle as output, a fuzzy fractional order PID tracking controller was designed to realize trajectory tracking by adjusting angle to reduce deviation. The controller combines fractional order theory with PID and adjusts parameters online by using fuzzy rules optimized by particle swarm optimization. The simulation was carried out on CarSim/Simulink co-simulation platform. The results show that the controller designed is feasible and effective, which provides a reference for the research of trajectory control. Reset
- Publication
Science Technology & Engineering, 2022, Vol 22, Issue 17, p7056
- ISSN
1671-1815
- Publication type
Article