Title: A novel fuzzy-sliding automatic speed control of intelligent vehicles with adaptive boundary layer
Authors: Jinghua Guo; Yugong Luo; Keqiang Li; Rongben Wang
Addresses: Department of Mechanical and Electrical Engineering, Xiamen University, Xiamen 361005, China ' State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing 100084, China ' State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing 100084, China ' College of Traffic, Jilin University, Changchun 130012, China
Abstract: Since the vehicle longitudinal dynamic system inherently has non-linear and time-varying behaviour, it is a challenging work to design an effective automatic speed control strategy to handle the unknown nonlinearities and uncertain parameters. In this paper, a novel adaptive fuzzy sliding automatic speed controller with variable boundary layer for intelligent vehicles is proposed; the control gains and the boundary layer thicknesses of the sliding mode speed controller are adaptively tuned by fuzzy logic simultaneously. Additionally, the stability of the proposed closed-loop automatic speed control system is guaranteed by the Lyapunov theory, and the switching criterion between the throttle and brake actuators is introduced. Finally, the performance of the proposed control scheme is evaluated by simulation and experimental tests, and the results illustrate that the proposed scheme can achieve good tracking performance.
Keywords: intelligent vehicles; fuzzy sliding control; adaptive boundary layer; automatic speed control; longitudinal dynamics; vehicle speed; controller design; sliding mode control; SMC; fuzzy logic; nonlinearities; uncertainty; vehicle dynamics; Lyapunov stability theory; switching; simulation.
International Journal of Vehicle Design, 2017 Vol.73 No.4, pp.300 - 318
Received: 11 Apr 2015
Accepted: 29 Apr 2016
Published online: 29 Mar 2017 *