STEERINGCONTROLLERDESIGNFORINTELLIGENTVEHICLES.docVIP

State of the Arts: Steering Controller Design for Intelligent Vehicles -- White Paper Report on Intelligent Vehicle Steering Controller Design Technology 伊利诺伊大学 Qin Zhang (qinzhang@uiuc.edu) Department of Agricultural and Biological Engineering University of Illinois at Urbana-Champaign 2005 Table of Contents 1. Introduction 1 2. Design of Task Controllers 2 2.1. Human Operator Performance Model-Based Task Controller 2 2.2. Other HIL-Type Task Controllers 4 2.3. Fuzzy Adaptive Task Controllers 5 3. Nine Primary Implement Controllers 7 3.1. PID Controller 7 3.2. FPID Controller 10 3.3. LQR Controller 12 3.4. H( Controller 13 3.5. Predictive Controllers 15 3.6. Adaptive Controllers 15 3.7. Sliding Mode Controller 18 3.8. Fuzzy Controller 20 3.9. Neural Networks Controller 23 3.10. A Brief Discussion on Controller Selection 24 4. Steering Systems Modeling and Identification 25 4.1. An Overview on Steering Systems Modeling 25 4.2. An Overview on Steering Systems Identification 26 5. Summary 28 References 29 Introduction Intelligent vehicles are designed to travel and perform specific operations in various types of terrains. Automated path tracking is one of the fundamental operations for such vehicles. To achieve accurate path tracking for intelligent ground vehicles, an appropriately designed vehicle steering controller is essential. An automatic controller is an electronic device used to convert an operational command into a control signal to drive an implement actuator for maintaining or adjusting the work status of a plant in achieving the operation goal of the plant. In general, a control method works by modifying the implementing control signal in terms of the operational command and feedback signals along three paths: forward, feedforward and feedback. Figure 1 shows a general steering control system. The major difference among various control systems is their method in modifying the command and feedback signals. Because of