基于分层变论域模糊控制方法的倒车控制

Hierarchical Variable Universe Fuzzy Controller for Truck Backer Upper Problem

为了解决一些模糊控制中的维数爆炸与精确控制问题,提出一种将分层控制思想和变论域控制思想结合起来的分层变论域模糊控制方法,并将这种模糊控制器应用于拖车倒车控制,其中下层变论域模糊控制器控制小车的方位角,上层变论域模糊控制器控制小车前轮转角。仿真实验结果与未采用分层方法的普通模糊控制器和变论域模糊控制器的控制结果作了比较,说明了新的控制方法计算量小,调整时间短且几乎无超调,具有较好的可行性与有效性。

In order to avoid the dimension explosion problem, and reduce the computation complexity in fuzzy controllers, this paper proposes a hybrid fuzzy controller by combining variable universe based fuzzy control theory and hierarchical control theory, for the control problem of backing up a truck and trailer. In the hierarchical controller, a first variable universe fuzzy controller is designed to find the ideal angle of the truck and a second variable universe fuzzy controller is built to fit the truck into the desired angle. Applicability and capability of the proposed hybrid controller is confirmed by simulation examples. The simulation result shows that the truck and trailer controlled by the proposed hybrid controller can response fast and reach the stable state quickly with small overshoot in comparison with nonhierarchical controllers.