基于模糊熵时延预测的车辆远程转向控制

Study of Remote Vehicle Steering Control Based on a Fuzzy Entropy Network Delay Prediction

构建某电液控制转向缸在因特网环境下的远程闭环控制模型.从时滞依赖鲁棒稳定控制理论的角度,设计一种根据网络时延所满足的时滞条件进行动态切换的控制器;从网络时延序列复杂性测度的角度,设计一种自适应加窗滑动平均时延预测算法,为控制提供切换依据.实验结果验证了这种基于模糊熵时延预测的自切换鲁棒控制器的可行性和有效性.

Model of the remote steering control loop through intemet for an electro-hydraulic controlled cylinder was built. An auto-dynamic-switching controller was developed from the aspect of delay-dependent robust control theory. The controller switched according to what delay condition the network delay satisfied, basing on network delay predicting. Fuzzy entropy was applied to analyze the random complexity of network delay series, which helps to set up a sliding window prediction algorithm. Experiment and its results prove the feasibility and validity of the control and prediction algorithms.