| 基于agents系统的汽车转向制动稳定协同控制* |
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| 引用本文： | 李果,王旭.基于agents系统的汽车转向制动稳定协同控制*[J].计算机应用研究,2009,26(12):4494-4498. |
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| 作者姓名： | 李果 王旭 |
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| 作者单位： | 北京科技大学,信息工程学院,北京,100083 |
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| 基金项目： | 北京市自动控制学科重点学科基金资助项目（6105763861）;国家开发总公司和北京科技大学联合资助项目（30050723135）; 汽车动态模拟国家重点实验室开放基金资助项目（2009A318603） |
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| 摘 要： | 为了解决车辆转向过程中防抱死制动稳定性问题，提出multi-agents协同控制方法。首先利用黑板规则，根据转向系统和各个车轮agent状态以及整车状态进行任务协同，得到使汽车转向制动稳定的期望参考值。这些值可以自适应调节。其次在车辆伺服系统中采用改进自抗扰控制方法设计汽车纵向控制器和转向控制器，使伺服控制系统有更好的鲁棒性能进行精确跟踪期望输入命令。最后用仿真结果验证所设计的鲁棒自适应控制算法的稳定性和有效性。
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| 关 键 词： | 汽车集成控制 转向制动稳定 multi-agents系统 自抗扰控制 鲁棒自适应控制 |
Cooperative controller of steering/braking stability for vehicles based on multi-agents system |
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| LI Guo,WANG Xu.Cooperative controller of steering/braking stability for vehicles based on multi-agents system[J].Application Research of Computers,2009,26(12):4494-4498. |
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| Authors: | LI Guo WANG Xu |
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| Affiliation: | (School of Information Engineering, University of Science & Technology Beijing, Beijing 100083, China) |
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| Abstract: | This paper proposed a multi-agents coordinated method to study the probability of putting in practice in the vehicle's steering antilock brake stability fields.Firstly,with the blackboard rulers, the steering system and state.It got the desired reference values to realize the vehicle's steering antilock brake stability. These values were adjustable.Secondly,it realized the servo control of the vehicles with active distur-bance rejection control method, and studied on it's application methods to the vehicle's longitudinal and lateral servo-system to track the desired input commands robustly.Finally, validated the stability and the validity of the robust adaptive control algorithm by simulation results. |
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| Keywords: | vehicle integrated control steering /braking stability multi-agents system active disturbance rejection control robust adaptive control |
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