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研究生:許建銘
研究生(外文):Xu, Jian-Ming
論文名稱:以基因演算法為基礎的最佳化控制器設計於四輪轉向車輛緊急迴避之研究
論文名稱(外文):GA-Based Optimal Controllers Design for 4WS Vehicles in Collision Avoidance
指導教授:廖德祿
指導教授(外文):Liao, De-Lu
學位類別:碩士
校院名稱:國立成功大學
系所名稱:工程科學研究所
學門:工程學門
學類:綜合工程學類
論文種類:學術論文
論文出版年:1998
畢業學年度:86
語文別:中文
論文頁數:79
中文關鍵詞:四輪轉向狀態回授遺傳基因演算法及時控制器駕駛者的前向模型四輪轉向車輛迴避控制最佳化控制器基因演算法工程科技結構學
外文關鍵詞:4WSstate feedbackGAreal time controllerdriver preview model4WS vehiclesCollision avoidance controlLQRState feedbackGenetic algorithmReal time controllerENGINEERINGTECHNOLOGYSTRUCTURE-ENGINEERING
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This thesis addresses the collision avoidance control problem of
a 4WSground vehicle. A linear quadratic regulator (LQR) which is
a usefulcontrol method for linear systems is used to find the
state feedbackgain matrix (K) of linear vehicle systems. Then
the values of K computedby LQR set up the search space of
genetic algorithm (GA) in which theoptimal state feedback gain
of nonlinear vehicle system can be achieved.Because the GA-based
control law needs much time to search for the optimalsolution of
the optimization problem, it can't be a real time controllerfor
the vehicle systems. The feedback gain matrix for some vehicle'
svelocities searched by GA generates the continuous feedback
gain for adymanic range of the speed between 10 m/s and 50 m/s
by the interpolationmethod. At the end of this thesis, a Driver-
Preview-Model-based GA controlleris derived for nonlinear
vehicle systems to reduce the effects of the lateralacceleration
response's delay, and make the controlled vehicle system hasa
faster response and more stable performances.

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