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首页> 外文期刊>Advances in Mechanical Engineering >Design of an Automatically Tuned Fuzzy Controller for a Truck and Multitrailer System
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Design of an Automatically Tuned Fuzzy Controller for a Truck and Multitrailer System

机译：卡车和多拖车系统自动调节模糊控制器的设计

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摘要

The use of a truck and multitrailer system is advantageous because of its ability to transport heavy and large parts with a single powered vehicle. On the other hand, when the system is deployed in an autonomous and unmanned scenario, it remains a challenging task to design a drive controller. Since the drive is only applied to the truck and motivated by successful cases of human expert drivers, a fuzzy controller is developed to generate speed and turn rate commands in order to steer the multi-trailer system to reach the target position with minimum position error. Furthermore, in order to make the controller design efficient and effective, the parameters in the fuzzy controller including the membership functions and rules are automatically tuned using the implementation of efficient particle swarm optimization algorithm instead of relying solely on human expert knowledge. Near-optimal parameters are then derived and adopted in the controller, and drive commands are then generated. The performance of the truck-and-multi-trailer system under fuzzy control is verified through simulation studies, and satisfactory results are obtained.
机译：卡车和多拖车系统的使用是有利的，因为其具有用单个动力车辆运输重的和大的零件的能力。另一方面，当将系统部署在自动无人值守场景中时，设计驱动器控制器仍然是一项艰巨的任务。由于该驱动仅适用于卡车，并受到专家驾驶员的成功案例的激励，因此开发了一种模糊控制器来生成速度和转弯速率命令，以使多挂车系统以最小的位置误差到达目标位置。此外，为了使控制器设计高效而有效，使用高效的粒子群优化算法来实现模糊控制器中包括隶属函数和规则的参数的自动调整，而不是仅仅依靠人类专家的知识。然后得出近似最佳的参数，并在控制器中采用该参数，然后生成驱动命令。通过仿真研究验证了该多拖挂系统在模糊控制下的性能，并取得了满意的结果。

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