http://rdf.ncbi.nlm.nih.gov/pubchem/patent/CN-110989597-B
Outgoing Links
| Predicate | Object |
|---|---|
| classificationCPCAdditional | http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/G05D2201-02 |
| classificationCPCInventive | http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/G05D1-0276 http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/G05D1-0223 http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/G05D1-0221 |
| classificationIPCInventive | http://rdf.ncbi.nlm.nih.gov/pubchem/patentipc/G05D1-02 |
| filingDate | 2019-12-05-04:00^^<http://www.w3.org/2001/XMLSchema#date> |
| grantDate | 2022-06-10-04:00^^<http://www.w3.org/2001/XMLSchema#date> |
| publicationDate | 2022-06-10-04:00^^<http://www.w3.org/2001/XMLSchema#date> |
| publicationNumber | CN-110989597-B |
| titleOfInvention | Adaptive path tracking method of integrated fuzzy neural network |
| abstract | The invention provides a self-adaptive path tracking method of an integrated fuzzy neural network, which determines an ideal deflection angle by judging the size of the transverse displacement deviation between an actual position point of an engineering machine or a vehicle and an expected path, takes the curvature of a target path coordinate point and the transverse deviation between the target path coordinate point and an actual driving path coordinate point as the input of a state switcher, the state switcher judges whether the engineering machine or the vehicle deviates from the ideal path or not, calculates the ideal deflection angle, obtains Jacobian information through the training neural network in a transverse controller, sets parameters of an active disturbance rejection controller through the information, outputs a fuzzy neural active disturbance rejection control law, and finally inputs the control law into an engineering machine and vehicle dynamic model, and the dynamic model outputs an actual driving path point to be fed back to the input end to form a complete closed-loop control system. The invention can enhance the anti-interference capability and the self-adaptability of the controller and improve the tracking precision of the target path. |
| priorityDate | 2019-12-05-04:00^^<http://www.w3.org/2001/XMLSchema#date> |
| type | http://data.epo.org/linked-data/def/patent/Publication |
Incoming Links
| Predicate | Subject |
|---|---|
| isDiscussedBy | http://rdf.ncbi.nlm.nih.gov/pubchem/compound/CID28718 http://rdf.ncbi.nlm.nih.gov/pubchem/substance/SID419513094 |
Total number of triples: 15.