基于坐标补偿的自动泊车系统无模型自适应控制

侯忠生; 董航瑞; 金尚泰

doi:10.16383/j.aas.2015.c140026

基于坐标补偿的自动泊车系统无模型自适应控制

doi: 10.16383/j.aas.2015.c140026

1.
北京交通大学电子信息工程学院先进控制系统研究所北京 100044

基金项目:

国家自然科学基金(61120106009,61433002),中央高校基本科研业务费(2014JBM005)资助

详细信息

作者简介:
董航瑞北京交通大学电子信息工程学院先进控制系统研究所硕士研究生.主要研究方向为无模型自适应控制,智能交通系统.E-mail:11120255@bjtu.edu.cn

通讯作者:
侯忠生北京交通大学电子信息工程学院先进控制研究所教授.主要研究方向为无模型自适应控制理论,数据驱动控制,学习控制,智能交通系统和数据挖掘在医学和交通领域中的应用.本文通信作者.E-mail:zhshhou@bjtu.edu.cn

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出版历程
- 收稿日期: 2014-01-17
- 修回日期: 2014-03-14
- 刊出日期: 2015-04-20

Model-free Adaptive Control with Coordinates Compensation for Automatic Car Parking Systems

1.
Advanced Control Systems Laboratory, School of Electronic and Information Engineering, Beijing Jiaotong University, Beijing 100044

Funds:

Supported by National Natural Science Foundation of China(61120106009, 61433002) and the Fundamental Research Funds for the Central Universities(2014JBM005)

摘要

摘要: 针对自动泊车系统,提出了无模型自适应控制(Model-free adaptive control, MFAC)方案.控制方案的设计仅利用泊车系统的前轮转角输入数据和车身角输出数据,不包含车辆模型信息.因此,针对不同车型的自动泊车系统,该方案均能实现无模型自适应控制.为了改善期望轨迹的坐标跟踪误差,进一步提出基于坐标补偿的无模型自适应控制方案,该方案由控制算法、参数估计算法、参数重置算法和坐标补偿算法构成.针对不同车型不同泊车速度的仿真结果表明,基于坐标补偿的MFAC方案和原型MFAC方案均能较好地完成自动泊车过程,且基于坐标补偿的MFAC方案相比原型MFAC方案和PID控制方案,在轨迹坐标和车身角等方面均具有更小的跟踪误差和更快的响应速度.
- 无模型自适应控制 /
- 自动泊车 /
- PID /
- 坐标补偿
Abstract: In this paper, a model-free adaptive control(MFAC) scheme is proposed for automatic car parking systems. The design of the proposed scheme only depends on the steering angle and the orientation angle of the car, and it does not involve any model information of the car. Therefore, the MFAC based automatic parking system is applicable to different kinds of cars. In order to further reduce the desired trajectory coordinate tracking error, a modified MFAC scheme with coordinates compensation is also proposed, which consists of a control algorithm, a parameter estimation algorithm, a parameter reset algorithm, and a coordinates compensation algorithm. A simulation comparison among MFAC scheme with coordinates compensation, prototype MFAC scheme, and PID control algorithm is given for different kinds of cars with different parking speeds. It is shown that both the prototype MFAC scheme and the MFAC scheme with coordinates compensation can better finish the automatic parking process, and the MFAC scheme with coordinates compensation has smaller tracking errors and more rapid responses to the orientation angle of the car and the trajectory coordinates than the prototype MFAC and PID schemes.
- Model-free adaptive control(MFAC) /
- automatic car parking /
- PID /
- coordinates compensation

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参考文献(25)

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基于坐标补偿的自动泊车系统无模型自适应控制

doi: 10.16383/j.aas.2015.c140026

作者简介:
董航瑞北京交通大学电子信息工程学院先进控制系统研究所硕士研究生.主要研究方向为无模型自适应控制,智能交通系统.E-mail:11120255@bjtu.edu.cn

通讯作者:
侯忠生北京交通大学电子信息工程学院先进控制研究所教授.主要研究方向为无模型自适应控制理论,数据驱动控制,学习控制,智能交通系统和数据挖掘在医学和交通领域中的应用.本文通信作者.E-mail:zhshhou@bjtu.edu.cn

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Model-free Adaptive Control with Coordinates Compensation for Automatic Car Parking Systems

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留言板

基于坐标补偿的自动泊车系统无模型自适应控制

doi: 10.16383/j.aas.2015.c140026

作者简介: 董航瑞 北京交通大学电子信息工程学院先进控制系统研究所硕士研究生.主要研究方向为无模型自适应控制,智能交通系统.E-mail:11120255@bjtu.edu.cn

通讯作者: 侯忠生 北京交通大学电子信息工程学院先进控制研究所教授.主要研究方向为无模型自适应控制理论,数据驱动控制,学习控制,智能交通系统和数据挖掘在医学和交通领域中的应用.本文通信作者.E-mail:zhshhou@bjtu.edu.cn

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出版历程

Model-free Adaptive Control with Coordinates Compensation for Automatic Car Parking Systems

计量

出版历程

目录

作者简介:
董航瑞北京交通大学电子信息工程学院先进控制系统研究所硕士研究生.主要研究方向为无模型自适应控制,智能交通系统.E-mail:11120255@bjtu.edu.cn

通讯作者:
侯忠生北京交通大学电子信息工程学院先进控制研究所教授.主要研究方向为无模型自适应控制理论,数据驱动控制,学习控制,智能交通系统和数据挖掘在医学和交通领域中的应用.本文通信作者.E-mail:zhshhou@bjtu.edu.cn