tailieunhanh - Hệ thống điều khiển mờ - Thiết kế và phân tích P8

TRAJECTORY CONTROL OF A VEHICLE WITH MULTIPLE TRAILERS This chapter contains an in-depth application study of the fuzzy control methodologies introduced in this book. The system under study is a vehicle with multiple trailers. The control objective is to back the vehicle into a straight-line configuration without forward motion. This is often referred as the problem of backing up control of a truck-trailer. | Fuzzy Control Systems Design and Analysis A Linear Matrix Inequality Approach Kazuo Tanaka Hua O. Wang Copyright 2001 John Wiley Sons Inc. CHAPTERS ISBNs 0-471-32324-1 Hardback 0-471-22459-6 Electronic TRAJECTORY CONTROL OF A VEHICLE WITH MULTIPLE TRAILERS This chapter contains an in-depth application study of the fuzzy control methodologies introduced in this book. The system under study is a vehicle with multiple trailers. The control objective is to back the vehicle into a straight-line configuration without forward motion. This is often referred as the problem of backing up control of a truck-trailer. A truck with a single trailer is often used as a testbed to study different control strategies. In this chapter we consider the more challenging problem of backing up control of a vehicle with multiple trailers. Both simulation and experimental results 1-4 are presented. The results demonstrate that the designed fuzzy controller can effectively achieve the backing-up control of the vehicle with multiple trailers while avoiding the saturation of the actuator and jack-knife phenomenon. Moreover the controller guarantees the stability and performance even in the presence of disturbance. As mentioned above the backing-up control of trailer-truck that is a vehicle with a trailer has been used as a testbed for a variety of control design methods 1-11 . In particular in order to successfully back up the trailer-truck the so-called jack-knife phenomenon needs to be avoided throughout the operation. In the field of automatic control a number of control methodologies including nonlinear control fuzzy control neural control and hybrid neural-fuzzy control 5-8 have been applied to this testbed problem. Most of these are simulation-based studies the important issue of the stability of the control systems was often left out. In our work stabilizing fuzzy control was applied to the case of a truck with one trailer case in 9 and experimental demonstrations were reported in 1 10 .