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Intelligent vehicle system interference compensation method based on fuzzy adaptive sliding mode

A fuzzy self-adaptive, system interference technology, applied in the direction of self-adaptive control, general control system, control/regulation system, etc., can solve problems such as interference and intelligent vehicle system interference

Pending Publication Date: 2021-10-29
UNIV OF ELECTRONIC SCI & TECH OF CHINA
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] The purpose of the present invention is to overcome the deficiencies of the prior art, to provide a smart car system interference compensation method based on fuzzy adaptive sliding mode, to solve the problems of interference compensation, state estimation and tracking control in the smart car system, and to effectively solve the problem of smart car system Disturbance observation, state estimation and tracking control of vehicle system under external disturbance

Method used

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  • Intelligent vehicle system interference compensation method based on fuzzy adaptive sliding mode
  • Intelligent vehicle system interference compensation method based on fuzzy adaptive sliding mode
  • Intelligent vehicle system interference compensation method based on fuzzy adaptive sliding mode

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Embodiment Construction

[0028] Specific embodiments of the present invention will be described below in conjunction with the accompanying drawings, so that those skilled in the art can better understand the present invention. It should be noted that in the following description, when detailed descriptions of known functions and designs may dilute the main content of the present invention, these descriptions will be omitted here.

[0029] figure 1 It is a schematic diagram of the principle of a specific implementation of the intelligent vehicle system interference compensation method based on fuzzy adaptive sliding mode in the present invention.

[0030] Such as figure 1 As shown, the present invention relates to adaptive disturbance observer design, state estimator design, and controller design for systems involving smart vehicles.

[0031] Consider a smart car system whose longitudinal dynamics can be characterized by a third-order nonlinear model as follows:

[0032]

[0033] Among them, p, v...

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Abstract

The invention discloses an intelligent vehicle system interference compensation method based on a fuzzy adaptive sliding mode. The method comprises the steps of adaptive interference observer design, state estimation design and controller design. The invention designs an interference estimator based on a fuzzy adaptive sliding mode for the problem of external interference in an intelligent vehicle system. A fuzzy state estimator based on observation interference is designed for solving the problem that the system state cannot be observed; in order to solve the tracking control problem of the intelligent vehicle system, a controller based on an estimated state is designed. According to the invention, the problems of interference observation, state estimation and tracking control of the intelligent vehicle system under external interference can be effectively solved.

Description

technical field [0001] The invention belongs to the technical field of interference compensation for intelligent vehicle systems, and more specifically, relates to an interference compensation method for intelligent vehicle systems based on fuzzy self-adaptive sliding mode. Background technique [0002] The smart car system is a comprehensive system integrating functions such as environmental perception, planning and decision-making, and multi-level assisted driving. It uses computer, modern sensing, information fusion, communication, artificial intelligence, and automatic control technologies. It is a typical High-tech complex. In recent years, smart cars have become a research hotspot in the field of vehicle engineering in the world and a new driving force for the growth of the automobile industry. Many developed countries have incorporated them into their respective intelligent transportation systems. However, smart car systems are often affected by system-internal or ex...

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 李猛苗朕海陈勇潘成伟
Owner UNIV OF ELECTRONIC SCI & TECH OF CHINA