摘要
针对颠簸路面上自主平行泊车系统中存在的系统不确定性问题,提出了一种基于二型T-S模糊模型的控制系统设计方案,设计过程采用了并行分布式补偿法,并利用李雅普诺夫方法分析了系统的稳定性。该方案应用二型模糊系统在处理多重不确定性问题方面的优势,同时解决了由系统的非线性特征以及路面颠簸状况引起的系统不确定性,即在对系统进行分段线性化以建立模糊规则的同时利用二型模糊隶属函数对由路面颠簸状况引起的系统参数的不确定性进行描绘,并在模糊降型以及解模糊的过程中进行模糊融合以达到使系统输出精确化的目的。实例仿真表明,二型T-S模糊控制系统可以同时掌控由系统的非线性特征以及路面颠簸状况引起的不确定性,仿真结果验证了该控制器的稳定性和有效性。
Type-Ⅱ fuzzy controller design for autonomous parallel parking on bumpy road is discussed based on the type-II T-S fuzzy model and parallel distributed compensation. By using the Lyapunov method, the stabilization of the control system is analysised. Be cause of the advantage of type-II fuzzy systems in dealing with multiple uncertainties, the uncertainties which are cause by nonlinearity and the road conditions can be resolved at the same time. In the type-II fuzzy model, the nonlinear terms can be approximated by choo- sing linear terms for fuzzy rules with pieeewise linear fuzzy membership functions, and the uncertainties of parameters can be described by these type-II memebership functions. All the uncertainties will disappear after the operation of type-reduction and defuzzifier. The fi nal output of the system is accurate. The resuahs of simulations illustrate the stabilization and feasibility of the control system, and the type-II T-S fuzzy control system can directly handle the system uncertainties which are caused by the nonlinearity and the road condi tions.
出处
《控制工程》
CSCD
北大核心
2013年第2期231-234,242,共5页
Control Engineering of China
基金
中央高校基本科研业务费
国家自然科学基金(61004048)
关键词
模糊控制
二型模糊系统
平行泊车
稳定性分析
fuzzy control
type-II fuzzy system
parallel parking
stability analysis
