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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。
Aiming at the problem of system uncertainty existing in autonomous parallel parking system on bumpy road, a design scheme of control system based on TS TS fuzzy model is proposed. The parallel decentralized compensation method is adopted in the design process and Lyapunov method The stability of the system is analyzed. This scheme uses the advantages of Type-2 fuzzy system in dealing with multiple uncertainties and at the same time solves the systematic uncertainty caused by the nonlinear characteristics of the system and the bumpy conditions of the road. That is, the system is segmented and linearized to establish fuzzy At the same time, the fuzzy membership function of type 2 is used to depict the uncertainty of the system parameters caused by the bumpy road conditions. The fuzzy merging is carried out in the process of fuzzy descent and defuzzification to achieve the goal of making the output of the system accurate. The simulation results show that the T-S fuzzy control system of Type II can control the uncertainties caused by the nonlinear characteristics of the system and the bumpy conditions of the road simultaneously. The simulation results verify the stability and effectiveness of the controller.