基于自适应模糊控制的智能车控制系统研究

摘要

A self-adaptive fuzzy controller based on robotic vision are studied, to conquer the influences of nonlinearity, coupling and uncertainty existed in the self-determination detect-line car.Compared with the other controllers, there is a significant improvement in the controller structure.It is a compound structure , with four inputs and two outputs.Additionally, a self-adaptive algorithm is used to adjust the controller' s parameters by traffic information.The dynamic performance of intelligent car system have been improved without reducing the stability of the system, that make the car meet with a variety of road conditions.%在基于CMOS传感器的自主循迹智能车的基础上,设计实现了一种自适应模糊控制器;该控制器与传统的模糊控制器相比,在结构上有了很大的改进;该控制器采用了前后两级的复合结构,在增加少量运算量的情况下,达到四输入两输出的能力,同时加入了自适应算法,通过对路况信息的判断来调整模糊控制器的参数,在不损失智能车系统稳定性的情况下提高了系统的动态性能,使智能车适应于各种复杂的路况.