基于GPS的智能车辆横向与纵向控制.ppt

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1、seminarreportMay11th,2013Let'sReviewthepreviousreport…1、包含设备起始静止数据232、剔除设备起始静止数据后45678Starttoday'sreportChapter10LongitudinalMotionControlforIntelligentVehicles9identifythevehiclevelocitymodelweidentifiedthesystemmodelofSpringrobotasthefirst-orderlagsystemdescribedas1011Veloc

2、ityControllerDesigntheinnerloopisafuzzyadaptiverobustcontrolmoduleanditsouterloopisanimprovedSingle-NeuronadaptivePID(SN-PID)controlmodulebasedonthequadraticperformanceindex.1213WewouldliketopointoutthatbothKandωi(k)canbeadjustedbyself-learning.Therearemanydifferentparameterl

3、earningruleseachcorrespondingtodifferentcontrolalgorithmsweadoptthequadraticperformanceindexwheredisthedelaytime;Pistheweightofoutputerror;Qistheweightofcontrolincrements;b0istheresponseofaunitstepfunctionattheinitialzero-state,andcanbeobtainedbyexperiments;K>0isaproportional

4、ityfactoroftheneuron.Inpractice,weusee(k)insteadofe(k+d)duetoe(k+d)beingunavailable.141516Inthisexperiment,P=2,Q=1,b0=6,K=0.02,nP=80,nI=0.4,andnD=259.Comparedtootherlearningrules,thislearningrulehasalowercomputingburdenandclearerphysicalmeaning.小练习：把该车速控制仿真重现17Theend18