English  |  正體中文  |  简体中文  |  全文筆數/總筆數 : 54931/89277 (62%)
造訪人次 : 10601901      線上人數 : 24
RC Version 7.0 © Powered By DSPACE, MIT. Enhanced by NTU Library & TKU Library IR team.
搜尋範圍 查詢小技巧:
  • 您可在西文檢索詞彙前後加上"雙引號",以獲取較精準的檢索結果
  • 若欲以作者姓名搜尋,建議至進階搜尋限定作者欄位,可獲得較完整資料
  • 進階搜尋
    請使用永久網址來引用或連結此文件: http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/98861


    題名: Neuroadaptive Output Tracking of Fully Autonomous Road Vehicles With an Observer
    作者: Kumarawadu, S.;Lee, Tsu-Tian
    貢獻者: 淡江大學電機工程學系
    日期: 2009-06
    上傳時間: 2014-09-24 09:54:32 (UTC+8)
    出版者: Piscataway: Institute of Electrical and Electronics Engineers
    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.
    關聯: IEEE Transactions on Intelligent Transportation Systems 10(2), pp.335-345
    DOI: 10.1109/TITS.2009.2020186
    顯示於類別:[電機工程學系暨研究所] 期刊論文

    文件中的檔案:

    檔案 描述 大小格式瀏覽次數
    index.html0KbHTML84檢視/開啟
    index.html0KbHTML91檢視/開啟

    在機構典藏中所有的資料項目都受到原著作權保護.

    TAIR相關文章

    DSpace Software Copyright © 2002-2004  MIT &  Hewlett-Packard  /   Enhanced by   NTU Library & TKU Library IR teams. Copyright ©   - 回饋