教師資料查詢 | 類別: 期刊論文 | 教師: 李祖添 TSU-TIAN LEE (瀏覽個人網頁)

標題:Neuroadaptive Output Tracking of Fully Autonomous Road Vehicles With an Observer
學年97
學期2
出版(發表)日期2009/06/01
作品名稱Neuroadaptive Output Tracking of Fully Autonomous Road Vehicles With an Observer
作品名稱(其他語言)
著者Kumarawadu, S. ; Lee, Tsu-Tian
單位淡江大學電機工程學系
出版者Piscataway: Institute of Electrical and Electronics Engineers
著錄名稱、卷期、頁數IEEE Transactions on Intelligent Transportation Systems 10(2), pp.335-345
摘要Automated vehicle control systems are a key technology for intelligent vehicle highway systems (IVHSs). This paper presents an automated vehicle control algorithm for combined longitudinal and lateral motion control of highway vehicles, with special emphasis on front-wheel-steered four-wheel road vehicles. The controller is synthesized using an online neural-estimator-based control law that works in combination with a lateral velocity observer. The online adaptive neural-estimator-based design approach enables the controller to counteract for inherent model discrepancies, strong nonlinearities, and coupling effects. The neurocontrol approach can guarantee the uniform ultimate bounds (UUBs) of the tracking and observer errors and the bounds of the neural weights. The key design features are (1) inherent coupling effects will be taken into account as a result of combining of the two control issues, viz., lateral and longitudinal control;(2) rather ad hoc numerical approximations of lateral velocity will be avoided via a combined controller-observer design; and (3) closed-loop stability issues of the overall system will be established. The algorithm is validated via a formative mathematical analysis based on a Lyapunov approach and numerical simulations in the presence of parametric uncertainties as well as severe and adverse driving conditions.
關鍵字
語言英文
ISSN1524-9050
期刊性質國外
收錄於SCI
產學合作
通訊作者
審稿制度
國別美國
公開徵稿
出版型式紙本
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