研究生: |
胡東暘 Dong-young Hu |
---|---|
論文名稱: |
適應性控制於駕駛模型不確定性之研究 Adaptive Control With Respect To Driver Model Uncertainty |
指導教授: |
陳亮光
Liang-kuang Chen |
口試委員: |
黃安橋
An-Chyau Huang 高維文 Wei-Wen Kao |
學位類別: |
碩士 Master |
系所名稱: |
工程學院 - 機械工程系 Department of Mechanical Engineering |
論文出版年: | 2006 |
畢業學年度: | 94 |
語文別: | 中文 |
論文頁數: | 82 |
中文關鍵詞: | 適應性控制 、駕駛模型不確定性 、自調式適應性控制 |
外文關鍵詞: | adaptive control, driver model uncertainty, self-tuning regulators |
相關次數: | 點閱:467 下載:4 |
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本研究主要針對駕駛模型不確定性所代表的駕駛因外在或內在因素,所造成的車輛駕駛轉向性能降低問題,提出發展一個轉向輔助控制器,期望使整體車輛駕駛性能達到並保持在理想駕駛操控的狀態。因此,本論文的目標在驗證是否可使用適應性控制法則來設計一個轉向輔助控制器,在駕駛操控車輛行進時,駕駛輔助適應性控制器能針對駕駛模型參數的不確定性進行修正,補償所應採取的控制動作,藉以解決駕駛模型中參數不確定因素所造成車輛轉向性能降低之可行性。由模擬分析和實驗結果可知控制器有發揮它的效能,在駕駛情況不佳時,改善車輛行駛狀況。
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