论文标题
使用级联模糊控制器的卡车和拖车支持者问题
Truck-and-Trailer Backer-Upper problem using Cascaded Fuzzy Controllers
论文作者
论文摘要
在本文中，我们为传统的卡车和拖车支持者问题制作了一个级联的模糊控制系统，这是测试各种智能控制系统的基准测试。受到人类运营最倾向的启发，我们将原始的总体控制问题分解为两个子控制问题。第一个模糊控制器预测预告片的最佳偏差，导致最潜在成功的对接的最佳偏差是基于其他学者的先前工作设计的，然后是第二个模糊控制器，以直观的方式将这种潜力最大化应用于卡车上。最终的仿真和结果不仅证明了本文提出的方法的实用性，而且与以前的工作相比，它表现出了戏剧性的简单性，这些工作试图从总体角度优化系统。
In this paper we craft a cascaded fuzzy controlling system for the traditional Truck-and-Trailer Backer-Upper problem, which is a benchmarking for testing various intelligent controlling systems. Inspired by the most inclination of human operations, we decompose the original overall controlling problem into two sub-controlling problems. A first fuzzy controller which predicts the optimal deviation of the trailer leading to a most potential successful docking is designed based on previous work of other scholars, then a second fuzzy controller which maximizes such a potentiality is applied to the truck in an intuitive manner. The final simulation and results not only demonstrate the practicability of the approach proposed in this paper, but also exhibits the dramatic simplicity compared with previous work which try to optimize the system from overall perspective.
