In order to deal with the complex process that incurs serious time delay, enormous inertia and nonlinear problems, fuzzy simulation human intelligent control algorithm rules are established. The fuzzy simulation human...In order to deal with the complex process that incurs serious time delay, enormous inertia and nonlinear problems, fuzzy simulation human intelligent control algorithm rules are established. The fuzzy simulation human intelligent controller and the hardware with the single-chip microcomputer are designed and the anti-interference measures to the whole system are provided.展开更多
This paper described an effective method to implement human & hardware in the loop simulation(HHILS), which is based on MATLAB system and can be used to study human driving actions in the abrupt situation and vehi...This paper described an effective method to implement human & hardware in the loop simulation(HHILS), which is based on MATLAB system and can be used to study human driving actions in the abrupt situation and vehicle stability control(VSC). A hybrid control algorithm, which makes full use of the advantages of robust control and fuzzy logic, was adopted in VSC system. The results of HHILS show that HHILS’ application on the vehicle handling and VSC resarch is feasible. These results also confirm that the handling performance of the vehicle with VSC is improved obviously compared to the vehicle without VSC.展开更多
Based on analysis and evaluation on the circular, cosine type, constant-speed offset type and ladder type lane change trajectory, this paper proposes an intelligent vehicle lane change trajectory model under multiple ...Based on analysis and evaluation on the circular, cosine type, constant-speed offset type and ladder type lane change trajectory, this paper proposes an intelligent vehicle lane change trajectory model under multiple barriers, proposes its dynamic constraints in the light of the cellular automata theory, obtains the desired lane change trajectory using this method, and finally changes into a simple coefficient selection problem. Secondly, based on the quadratic optimal control theory, this paper proposes a state space analysis method of intelligent vehicle lateral control, and designs an optimal controller for lateral stability of H2 vehicles. The computer simulation results show that compared with other vehicle trajectory methods, the method in this paper is able to simply and rapidly describe the trajectory, and can describe the intelligent vehicle lane change trajectory under a variety of situations, wherein the controller is reliable and capable of fast convergence.展开更多
Intelligent techniques foster the dissemination of new discoveries and novel technologies that advance the ability of robots to assist and support humans. The human-centered intelligent robot has become an important r...Intelligent techniques foster the dissemination of new discoveries and novel technologies that advance the ability of robots to assist and support humans. The human-centered intelligent robot has become an important research field that spans all of the robot capabilities including navigation, intelligent control, pattern recognition and human-robot interaction. This paper focuses on the recent achievements and presents a survey of existing works on human-centered robots. Furthermore, we provide a comprehensive survey of the recent development of the human-centered intelligent robot and discuss the issues and challenges in the field.展开更多
A new vehicle steering control algorithm is presented. Unlike the traditional methods do, the algorithm uses a sigmoid function to describe the principle of the human driver＇s steering strategy. Based on this functio...A new vehicle steering control algorithm is presented. Unlike the traditional methods do, the algorithm uses a sigmoid function to describe the principle of the human driver＇s steering strategy. Based on this function, a human simulating vehicle steering model, human-simulating steering control（HS） algorithm is designed. In order to improve the adaptability to different environments, a parameter adaptive adjustment algorithm is presented. This algorithm can online modify the value of the key parameters of the HS real time. HS controller is used on a vehicle equipped with computer vision system and computer controlled steering actuator system, the result from the automatic vehicle steering experiment shows that the HS algorithm gives good performance at different speed, even at the maximum speed of 172 km/h.展开更多
The concept of an intelligent control system for a complex nonlinear biomechanical system of an extension cableless robotic unicycle discussed.A thermodynamic approach to study optimal control processes in complex non...The concept of an intelligent control system for a complex nonlinear biomechanical system of an extension cableless robotic unicycle discussed.A thermodynamic approach to study optimal control processes in complex nonlinear dynamic systems applied.The results of stochastic simulation of a fuzzy intelligent control system for various types of external/internal excitations for a dynamic,globally unstable control object-extension cableless robotic unicycle based on Soft Computing(Computational Intelligence Toolkit-SCOptKBTM)technology presented.A new approach to design an intelligent control system based on the principle of the minimum entropy production(minimum of useful resource losses)determination in the movement of the control object and the control system is developed.This determination as a fitness function in the genetic algorithm is used to achieve robust control of a robotic unicycle.An algorithm for entropy production computing and representation of their relationship with the Lyapunov function(a measure of stochastic robust stability)described.展开更多
文摘In order to deal with the complex process that incurs serious time delay, enormous inertia and nonlinear problems, fuzzy simulation human intelligent control algorithm rules are established. The fuzzy simulation human intelligent controller and the hardware with the single-chip microcomputer are designed and the anti-interference measures to the whole system are provided.
文摘This paper described an effective method to implement human & hardware in the loop simulation(HHILS), which is based on MATLAB system and can be used to study human driving actions in the abrupt situation and vehicle stability control(VSC). A hybrid control algorithm, which makes full use of the advantages of robust control and fuzzy logic, was adopted in VSC system. The results of HHILS show that HHILS’ application on the vehicle handling and VSC resarch is feasible. These results also confirm that the handling performance of the vehicle with VSC is improved obviously compared to the vehicle without VSC.
文摘Based on analysis and evaluation on the circular, cosine type, constant-speed offset type and ladder type lane change trajectory, this paper proposes an intelligent vehicle lane change trajectory model under multiple barriers, proposes its dynamic constraints in the light of the cellular automata theory, obtains the desired lane change trajectory using this method, and finally changes into a simple coefficient selection problem. Secondly, based on the quadratic optimal control theory, this paper proposes a state space analysis method of intelligent vehicle lateral control, and designs an optimal controller for lateral stability of H2 vehicles. The computer simulation results show that compared with other vehicle trajectory methods, the method in this paper is able to simply and rapidly describe the trajectory, and can describe the intelligent vehicle lane change trajectory under a variety of situations, wherein the controller is reliable and capable of fast convergence.
基金supported in part by the National Natural Science Foundation of China(61573147,91520201,61625303,61522302,61761130080)Guangzhou Research Collaborative Innovation Projects(2014Y2-00507)+2 种基金Guangdong Science and Technology Research Collaborative Innovation Projects(20138010102010,20148090901056,20158020214003)Guangdong Science and Technology Plan Project(Application Technology Research Foundation)(2015B020233006)National High-Tech Research and De-velopment Program of China(863 Program)(2015AA042303)
文摘Intelligent techniques foster the dissemination of new discoveries and novel technologies that advance the ability of robots to assist and support humans. The human-centered intelligent robot has become an important research field that spans all of the robot capabilities including navigation, intelligent control, pattern recognition and human-robot interaction. This paper focuses on the recent achievements and presents a survey of existing works on human-centered robots. Furthermore, we provide a comprehensive survey of the recent development of the human-centered intelligent robot and discuss the issues and challenges in the field.
基金This project is supported by Key Technology R & D Program of China during the 10th 5-year Plan Period(No.2002BA404A21)State Key Laboratory of Automobile Safety and Energy, China(No.KF2005-004).
文摘A new vehicle steering control algorithm is presented. Unlike the traditional methods do, the algorithm uses a sigmoid function to describe the principle of the human driver＇s steering strategy. Based on this function, a human simulating vehicle steering model, human-simulating steering control（HS） algorithm is designed. In order to improve the adaptability to different environments, a parameter adaptive adjustment algorithm is presented. This algorithm can online modify the value of the key parameters of the HS real time. HS controller is used on a vehicle equipped with computer vision system and computer controlled steering actuator system, the result from the automatic vehicle steering experiment shows that the HS algorithm gives good performance at different speed, even at the maximum speed of 172 km/h.
文摘The concept of an intelligent control system for a complex nonlinear biomechanical system of an extension cableless robotic unicycle discussed.A thermodynamic approach to study optimal control processes in complex nonlinear dynamic systems applied.The results of stochastic simulation of a fuzzy intelligent control system for various types of external/internal excitations for a dynamic,globally unstable control object-extension cableless robotic unicycle based on Soft Computing(Computational Intelligence Toolkit-SCOptKBTM)technology presented.A new approach to design an intelligent control system based on the principle of the minimum entropy production(minimum of useful resource losses)determination in the movement of the control object and the control system is developed.This determination as a fitness function in the genetic algorithm is used to achieve robust control of a robotic unicycle.An algorithm for entropy production computing and representation of their relationship with the Lyapunov function(a measure of stochastic robust stability)described.
