Abstract
Since the vehicle longitudinal dynamic system inherently has non-linear and time-varying behaviour, it is a challenging work to design an effective automatic speed control strategy to handle the unknown nonlinearities and uncertain parameters. In this paper, a novel adaptive fuzzy sliding automatic speed controller with variable boundary layer for intelligent vehicles is proposed; the control gains and the boundary layer thicknesses of the sliding mode speed controller are adaptively tuned by fuzzy logic simultaneously. Additionally, the stability of the proposed closed-loop automatic speed control system is guaranteed by the Lyapunov theory, and the switching criterion between the throttle and brake actuators is introduced. Finally, the performance of the proposed control scheme is evaluated by simulation and experimental tests, and the results illustrate that the proposed scheme can achieve good tracking performance.
Published Version
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