基于间断连续运行混杂系统设计的视觉智能交通系统的自动跟随控制策略研究
毕业论文关键词 智能交通 混杂系统 间断连续运行混杂系统 轨迹跟踪控制器 间断连续运行观测器
Title Title Title Title The automatic tracking control strategy researchapplied to the visual intelligent traffic systemsbased on Piecewise Continuous Systems of HybridsystemsAbstract Abstract Abstract AbstractA control method based on piecewise continuous systems ( PCS ) is presentedto solve the discrete problems and the time-delay of intelligent trafficsystems.PCS has two inputs and one output,Each input is correspondingto one specific time space, the first to the discrete time space definedby } { , 0,1, 2,... k S t k = = and the second to the continuous time spacedefined by t s ∈ℑ− with { [0, ]} t ℑ∈ ∈ ∞ .The PCS controller ( PCC ) and thePCS observer ( PCO ) is designed based on the PCS theory.Two feedback loopsis defined and due to the theory,two kinds of PCS controller aredesigned.In the first the PCS controller only has discrete feedback,sothe system is working in open-loop configuration during a sample period,therefore ripple is possible during sampling period.In the second examplethe PCS controller has discrete as well as continuous feedback,so thesystem is working in close-loop configuration during a sample period,andthe PCS controller is generated according to ’ optimal control ’ ,thereforeripple is impossible during sampling period.The control law depends onthe PCS properties and on the method used to generate PCS controllerinputs.This method appears to have several advantages over dynamiccontrollers: it provides control system designers with more freedom, and it requires an important computation only at the beginning of controlprocess.The PCO controller is designed based on the PCS theory as wellas the theory of the Reduced Order Discrete time Luenbergerobserver ( RODL ) .The PCS is used to generate the control signal.RODL isused to generate recursive function,then another PCS is used to generatethe states.The example of the visual servoing of X-Y robot systems isgiven.From the example,the cart can run smoothly according to setpoints,which shows the system designed acts well.Besides the system canrebuilt the discrete signal to get the continuous signal,so the systemcan act well in the visual intelligent traffic systems.