Nonlinear Fuzzy Sliding Mode Speed Control for Unmanned Driving Robotic Vehicle

被引：0
|
作者：
Chen G. [1 ]
Wu J. [1 ]
机构：
[1] School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, 210094, Jiangsu
来源：
Zhongguo Gonglu Xuebao/China Journal of Highway and Transport | 2019年 / 32卷 / 06期
关键词：
Automotive engineering; Fuzzy sliding mode control; Nonlinear disturbance observer; Speed control; Unmanned driving robotic vehicle (UDRV);
D O I：
10.19721/j.cnki.1001-7372.2019.06.012
中图分类号：
学科分类号：
摘要：
The accurate and stable speed control, in different driving conditions for an unmanned driving robotic vehicle (UDRV) was estimated using the fuzzy sliding mode speed control method with a nonlinear disturbance observer (NDO). The vehicle longitudinal dynamics model was established by determining modeling uncertainties and external disturbances. The throttle mechanical leg kinematics model and the brake mechanical leg kinematics model of an unmanned driving robot (UDR) was established by analyzing the structure and movement of the throttle mechanical leg and the brake mechanical leg; the mechanical legs are used to manipulate the pedals of a vehicle with automatic transmission. The throttle/brake switching controller, throttle fuzzy sliding mode controller, and brake fuzzy sliding mode controller were designed, and the stability of the control system was proved based on this analysis. The throttle/brake switching controller was designed to achieve switching of control between the throttle and the brake by taking the derivative of vehicle target speed as the input. The throttle fuzzy sliding mode controller and the brake fuzzy sliding mode controller was designed to achieve control of the throttle and brake by recording actual vehicle speed and speed error as the input and the linear motor displacement of both the throttle mechanical leg and the brake mechanical leg as the output, respectively. Furthermore, to reduce control chattering, the sliding mode feedback control gain of the fuzzy sliding mode controller was adjusted online using the fuzzy logic algorithm. The NDO of the fuzzy sliding mode controller was designed to estimate and compensate for modeling uncertainties and external disturbances of the UDRV. The comparison results between the simulation and experiment demonstrate that the proposed method accurately estimates and compensates for the modeling uncertainties and external disturbances in the UDRV. In addition, frequent switching of control between the throttle and the brake is eliminated, and accurate and stable speed control is achieved. © 2019, Editorial Department of China Journal of Highway and Transport. All right reserved.
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页码：114 / 123
页数：9
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