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论文类型：期刊论文

发表时间：2022-06-29

发表刊物：中国公路学报

期号：1

页面范围：170-176

ISSN号：1001-7372

摘要：To obtain desired values for speed tracking, the longitudinal motion control algorithm was proposed using multiple sliding-mode control based on fuzzy logic, which worked through adjusting sliding-mode gain coefficient to estimate and compensate for parametic uncertainties and external disturbance. The stability of the closed-loop system was proved by Lyapunov method. The switching criterion between the throttle actuator and brake actuator was proposed to guarantee the smooth switching between throttle actuator and brake actuator. The results show that the proposed control algorithm has high tracking accuracy and strong robustness even in presence of parametic uncertainties and external disturbance.

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