期刊
ARTIFICIAL LIFE AND ROBOTICS
卷 18, 期 1-2, 页码 64-69出版社
SPRINGER
DOI: 10.1007/s10015-013-0100-6
关键词
4WS vehicle; Controller optimization; Decoupling control; Nonlinear performance analysis
类别
资金
- National Basic Research Program of China [2012CB821200, 2012CB8 21201]
- NSFC [61134005, 60921001, 90916024, 911 16016]
In this paper, performance analysis of physical models and parameter optimization of two typical decoupling controllers are considered. Firstly, new relationship between velocity and acceleration for the nonlinear performance is established. Then, for the decoupled quasilinearized system, the parameter region is optimized, in which the damping is bigger than one and eigenvalues are smaller than any negative number. For the decoupled linearized system, the necessary and sufficient conditions, that overshoot and irritating are avoided and measurement-error disturbance is attenuated to under any positive number, are deduced. Simulations show that safety and comfort are improved obviously.
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