摘要
针对在保证一定精度的条件下,要求一次性完成卡车的倒车的情况,利用TSK (Takagi-Sugeno-Kang)模糊系统控制卡车,在TSK模糊控制器作用下让卡车从任意的初始位置一次性倒车到指定的位置。在卡车数学模型中,线性部分设计线性状态反馈控制器,非线性部分先求TSK模糊模型,然后设计基于TSK模糊模型的TSK模糊控制器。它是一个非线性控制器,可保证闭环系统的稳定性。仿真实验结果表明,所设计的TSK模糊控制器对卡车的倒车控制是非常有效的。
Backing up control of a truck-trailer by applying TSK (Takagi-Sugeno-Kang) fuzzy system is resolved.The truck-trailer can back up its initial position to the appointed position by the function of the fuzzy TSK controller.First,the state feedback controUer is obtained from the mathematical linear part of truck-trailer,and TSK fuzzy model is obtained from the nonlinear part.Then TSK fuzzy controller is designed based on the above fuzzy model.TSK fuzzy controller,which can guarantee the stability of closed-loop system,is a nonlinear controller.The simula- tion results show that the designed fuzzy controller is very useful in backing up control of a truck-trailer.
出处
《控制工程》
CSCD
2006年第S2期30-32,77,共4页
Control Engineering of China
