防抱死制动系统的自适应离散模糊滑模控制

22nd International Conference of the North American Fuzzy Information Processing Society, NAFIPS 2003 Pub Date : 2002-08-07 DOI:10.1109/NAFIPS.2003.1226807

K. Emami, M. Akbarzadeh-T.

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引用次数: 19

摘要

针对13阶两轮非线性汽车防抱死制动系统(ABS)，提出了一种离散时间自适应模糊滑模控制器。该模型包含了前轮和后轮子系统之间的相互作用。所提出的控制器的目标是最少依赖于数学模型，只假设一定的不确定性上界和下界。该控制器是基于变结构控制、直接自适应模糊控制和线性控制的混合组合设计的。采用两个模糊逼近器对系统的非线性函数进行估计。控制器是全局一致Lyapunov稳定的。仿真结果表明，尽管缺乏对车轮动力学和系统扰动(如路面粗糙度)的了解，该系统仍具有良好的输出跟踪性能。

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Adaptive discrete-time fuzzy sliding mode control for anti-lock braking systems

A discrete-time adaptive fuzzy sliding mode controller is proposed for an antilock braking system (ABS) of a 13th order two-wheel nonlinear model of a car. The model includes interaction of front and rear wheel subsystems. The presented controller aims to least depend on a mathematical model, only assuming certain upper and lower bounds of uncertainties. The controller is designed based on a hybrid combination of variable structure control, direct adaptive fuzzy control and linear control. Two fuzzy approximators are used to estimate nonlinear functions of the plant. The controller is global uniform Lyapunov stable. Simulation results show favorable output tracking performance despite poor knowledge of wheel dynamics and system disturbances such as road roughness.

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22nd International Conference of the North American Fuzzy Information Processing Society, NAFIPS 2003

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