研究生: |
林良奇 Liang-chi Lin |
---|---|
論文名稱: |
強健適應性道路維持系統 Robust Adaptive Control Design for Vehicle Lane Keeping Assist |
指導教授: |
陳亮光
Liang-kuang Chen |
口試委員: |
黃安橋
none 楊炳德 none |
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: | 2007 |
畢業學年度: | 95 |
語文別: | 中文 |
論文頁數: | 87 |
中文關鍵詞: | 安全系統 、駕駛行為 、適應性控制 、順滑模型 、參數鑑定 |
外文關鍵詞: | security system, driver behavior, adaptive control, sliding mode, parameter estimator |
相關次數: | 點閱:369 下載:5 |
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本文針對駕駛模型具有參數不確定性及輸入延遲所造成的車輛駕駛轉向性能降低問題,提出發展一個可變結構適應性(variable structure model reference adaptive control)車輛轉向輔助控制器。控制器包含predictor及variable structure,其中predictor可抵銷輸入延遲對系統的影響,而variable structure可強化系統的穩健性。最後使用駕駛模擬器進行駕駛人模擬駕駛實驗,以驗證此控制器可否達到預期的效果。根據模擬與實驗分析結果顯示,發現適應性控制器在處理駕駛模型不確定性及輸入延遲所造成的駕駛轉向性能降低的問題上獲得成效,並具有穩健性。
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