Discrete-time neuroadaptive control using dynamic state feedback with application to vehicle motion control for intelligent vehicle highway systems

作者：Fernando W U N^*; Kumarawadu S

来源：IET Control Theory and Applications, 2010, 4(8): 1465-1477.

DOI：10.1049/iet-cta.2009.0144

Discrete time neuro-compensated dynamic state feedback control system for lateral and longitudinal control of intelligent vehicle highway systems (IVHS) is developed. A discrete time counterpart of the continuous time non-linear IHVS model is obtained in state-space form and the controller is analysed in three stages, with and without compensation mechanisms resulting in an implementation from low to high complexity. Gain parameters of the dynamic state feedback control are optimised with respect to a minimisation of a linear quadratic cost function. The weight convergence of the neuro-compensation algorithm is established in discrete time Lyapunov sense via a graphical method. The performance enhancement of each design stage of the controller is presented and compared with the aid of computer simulations.

• 出版日期2010-8