摘要
阐述了一种基于模糊补偿的离散全局滑模导航控制方法。为了提高农用车辆自动导航的精度和稳定性,引入滑模变结构控制方法,并对其进行了改进。为了降低系统的抖振,采用模糊规则,对补偿控制量进行有效的估计,以消除不确定项的影响。仿真实验表明:该方法优于传统的离散的滑模控制,在理论上是可行的。
An autonomous navigation system based on sliding mode control for agricultural tractor was proposed.Sliding mode variable structure control method was introduced to improve the precision and stability of the agricultural vehicle au-tomatic navigation.In order to reduce the chattering problem of the system.Fuzzy rules were used to estimate of the a-mount of compensation control effectively to eliminate the influence of the uncertainties;the simulation experiments show that the method is superior to the traditional discrete sliding mode control.It is theoretically feasible.
出处
《农机化研究》
北大核心
2015年第7期74-78,共5页
Journal of Agricultural Mechanization Research
基金
河北省教育厅项目(QN2014095)
河北农业大学理工基金项目(LG20120603)
关键词
滑膜控制
模糊控制
自动导航
农用车
sliding mode control
fuzzy control
autonomous navigation
agricultural tractor
