2.765

2022影响因子

(CJCR)

  • 中文核心
  • EI
  • 中国科技核心
  • Scopus
  • CSCD
  • 英国科学文摘

留言板

尊敬的读者、作者、审稿人, 关于本刊的投稿、审稿、编辑和出版的任何问题, 您可以本页添加留言。我们将尽快给您答复。谢谢您的支持!

姓名
邮箱
手机号码
标题
留言内容
验证码

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

侯忠生, 董航瑞, 金尚泰. 基于坐标补偿的自动泊车系统无模型自适应控制. 自动化学报, 2015, 41(4): 823-831. doi: 10.16383/j.aas.2015.c140026
引用本文: 侯忠生, 董航瑞, 金尚泰. 基于坐标补偿的自动泊车系统无模型自适应控制. 自动化学报, 2015, 41(4): 823-831. doi: 10.16383/j.aas.2015.c140026
HOU Zhong-Sheng, DONG Hang-Rui, JIN Shang-Tai. Model-free Adaptive Control with Coordinates Compensation for Automatic Car Parking Systems. ACTA AUTOMATICA SINICA, 2015, 41(4): 823-831. doi: 10.16383/j.aas.2015.c140026
Citation: HOU Zhong-Sheng, DONG Hang-Rui, JIN Shang-Tai. Model-free Adaptive Control with Coordinates Compensation for Automatic Car Parking Systems. ACTA AUTOMATICA SINICA, 2015, 41(4): 823-831. 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
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

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

Funds: 

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

  • 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.
  • [1] Green P. Parking crashes and parking assistance system design:evidence from crash databases, the literature and insurance agent interviews. In:Proceedings of the 2006 SAE World Congress. Detroit, USA:SAE, 2006. 1685-1700
    [2] Song Jin-Ze. Research on the Key Technology for Auto-Parking System [Ph.D. dissertation], National University of Defense Technology, China, 2009.(宋金泽. 自主泊车系统关键技术研究[博士学位论文], 国防科学技术大学, 中国, 2009.)
    [3] [3] Demirli K, Khoshnejad M. Autonomous parallel parking of a car-like mobile robot by a neuro-fuzzy sensor-based controller. Fuzzy Sets and Systems, 2009, 160(19):2876-2891
    [4] Song Jin-Ze, Dai Bin, Shan En-Zhong, Sun Zhen-Ping, He Han-Gen. Trajectory planning approach of autonomous parallel parking with kinodynamic constaints. Journal of Central South University(Science and Technology), 2009, 40(1):135-141(宋金泽, 戴斌, 单恩忠, 孙振平, 贺汉根. 融合动力学约束的自动平行泊车轨迹生成方法. 中南大学学报(自然科学版), 2009, 40(1):135-141)
    [5] [5] Jung H G, Lee Y H, Kim J H. Uniform user interface for semiautomatic parking slot marking recognition. IEEE Transactions on Vehicular Technology, 2010, 59(2):616-626
    [6] [6] Kim D, Chung W, Park S. Practical motion planning for car-parking control in narrow environment. IET Control Theory and Applications, 2010, 4(1):129-139
    [7] [7] Liu K Z, Horii M. An experimental comparison of nonholonomic control methods:automatic parking benchmark. In:Proceedings of the 2007 International Conference on Instrumentation, Control, Information Technology, and System Integration. Kagawa University, Japan:IEEE, 2007. 1712-1717
    [8] [8] Chen C H, Hsu C W, Yao C C. A novel design for full automatic parking system. In:Proceedings of the 12th International Conference on ITS Telecommunications. Taipei, China:IEEE, 2012. 175-179
    [9] [9] Liang Z, Zheng G Q, Li J S. Application of fuzzy control strategy in automatic parking path planning. In:Proceedings of the 4th International Conference on Intelligent Human-Machine Systems and Cybernetics. Nanchang, China:IEEE, 2012. 132-135
    [10] Li T H, Chang S J, Chen Y X. Implementation of human-like driving skills by autonomous fuzzy behavior control on an FPGA-based car-like mobile robot. IEEE Transactions on Industrial Electronics, 2003, 50(5):867-880
    [11] Baturone I, Moreno-Velo F J, Snchez-Solano S, Ollero A. Automatic design of fuzzy controllers for car-like autonomous robots. IEEE Transactions on Fuzzy Systems, 2004, 12(4):447-465
    [12] Heinen M R, Osorio F S, Heinen F J, Kelber C. SEVA3D:Using articial neural networks to autonomous vehicle parking control. In:Proceedings of the 2006 International Joint Conference on Neural Networks. Vancouver, Canada:IEEE, 2006. 4704-4711
    [13] Xu Jian-Xin, Hou Zhong-Sheng. Notes on data-driven system approaches. Acta Automatica Sinica, 2009, 35(6):668-675
    [14] Wang Hong, Chai Tian-You, Ding Jin-Liang, Martin B. Data driven fault diagnosis and fault tolerant control:some advances and possible new directions. Acta Automatica Sinica, 2009, 35(6):739-747(王宏, 柴天佑, 丁进良, 布朗马丁. 数据驱动的故障诊断与容错控制:进展与可能的新方向. 自动化学报, 2009, 35(6):739-747)
    [15] Hou Zhong-Sheng, Jin Shang-Tai. Model Free Adaptive Control-Theory and Applications. Beijing:Science Press, 2013.(侯忠生, 金尚泰. 无模型自适应控制理论与应用. 北京:科学出版社, 2013.)
    [16] Hou Zhong-Sheng. The Parameter Identification, Adaptive Control and Model Free Learning Adaptive Control for Nonlinear Systems [Ph.D. dissertation], Northeastern University, China, 1994.(侯忠生. 非线性系统参数辩识、自适应控制及无模型学习自适应控制[博士学位论文], 东北大学, 中国, 1994.)
    [17] Zhao Yi, Lu Chao, Han Ying-Duo. MIMO model free adaptive wide area power system stabilizer design. Journal of Tsinghua University(Science and Technology), 2013, 53(4):453-458, 464(赵艺, 陆超, 韩英铎. 多输入多输出无模型自适应广域阻尼控制器设计. 清华大学学报(自然科学版), 2013, 53(4):453-458, 464)
    [18] Xu D Z, Jiang B, Shi P. A novel model free adaptive control design for multivariable industrial processes. IEEE Transactions on Industrial Electronics, DOI:10.1109/TIE.2014.230 8161, 2014.
    [19] Lv F L, Chen H B, Fan C J, Chen S B. A novel control algorithm for weld pool control. Industrial Robot, 2010, 37(1):89-96
    [20] Lu Xiao-Ping, Li Wei, Lin Yong-Gang. Load control of wind turbine based on model-free adaptive controller. Transactions of the Chinese Society for Agricultural Machinery, 2011, 42(2):109-114, 129(鲁效平, 李伟, 林勇刚. 基于无模型自适应控制器的风力发电机载荷控制. 农业机械学报, 2011, 42(2):109-114, 129)
    [21] Chi Rong-Hu, Hou Zhong-Sheng. A model-free periodic adaptive control for freeway traffic density via ramp metering. Acta Automatica Sinica, 2010, 36(7):1029-1032(池荣虎, 侯忠生. 基于匝道调节的快速路交通密度的无模型周期自适应控制方法. 自动化学报, 2010, 36(7):1029-1032)
    [22] Gao Bin, Gu Kai-Yun, Zeng Yi, Chang Yu. An anti-suction control for an intra-aorta pump using blood assistant index:a numerical simulation. Artificial Organs, 2012, 36(3):275 -285
    [23] Hou Zhong-Sheng, Xu Jian-Xin. On data-driven control theory:the state of the art and perspective. Acta Automatica Sinica, 2009, 35(6):650-667(侯忠生, 许建新. 数据驱动控制理论及方法的回顾和展望. 自动化学报, 2009, 35(6):650-667)
    [24] Liu K Z, Minh Q D, Inoue T. An exponentially -convergent control algorithm for chained systems and its application to automatic parking systems. IEEE Transactions on Control Systems Technology, 2006, 14(6):1113-1126
    [25] Muller B, Deutscher J, Grodde S. Continuous curvature trajectory design and feedforward control for parking a car. IEEE Transactions on Control Systems Technology, 2007, 15(3):541-553
  • 加载中
计量
  • 文章访问数:  2046
  • HTML全文浏览量:  186
  • PDF下载量:  1579
  • 被引次数: 0
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

目录

    /

    返回文章
    返回