摘要
在基于CMOS传感器的自主循迹智能车的基础上,设计实现了一种自适应模糊控制器;该控制器与传统的模糊控制器相比,在结构上有了很大的改进;该控制器采用了前后两级的复合结构,在增加少量运算量的情况下,达到四输入两输出的能力,同时加入了自适应算法,通过对路况信息的判断来调整模糊控制器的参数,在不损失智能车系统稳定性的情况下提高了系统的动态性能,使智能车适应于各种复杂的路况。
A self-adaptive fuzzy controller based on robotic vision are studied, to conquer the influences of nonlinearity, coupling and uncertainty existed in the self-determination detect line ear. Compared with the other controllers, there is a significant improvement in the controller structure. It is a compound structure , with four inputs and two outputs. Additionally, a self-adaptive algorithm is used to adjust the controller＇s parameters by traffic information. The dynamic performance of intelligent car system have been improved without reducing the stability of the system, that make the car meet with a variety of road conditions.
出处
《计算机测量与控制》
CSCD
北大核心
2011年第1期78-80,共3页
Computer Measurement &Control
关键词
自适应
模糊控制器
智能车
self- adaptive algorithm
fuzzy controller
intelligent car
