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Comparison between fuzzy control and LQR control based on single degree of tracked vehicle
2010, 30(5):
69-73.
It was not easy to establish a proper model for tracked vehicle which works in the difficult environment and has complex structure. In order to solve this imprecision of model, there was a good approach of fuzzy control to restrain the vibration of vehicle. According to step response analysis, when adjusting factor equaled to zero, the control effect with the acquired fuzzy rule was best. Under the random excitation of the off-road, no control, LQR and fuzzy control were contrasted. The simulation result indicated, fuzzy control showed better control effect. Under the same maximum force of the actuator, fuzzy control showed better control effect than LQR control, the acceleration of the fuzzy control was reduced to 1/8 of no control, the velocity was reduced to 1/4, and the displace was reduced to 7/10. In the terms of displace and velocity, fuzzy control was nearly comparative to LQR control, however, the control effect of the acceleration under fuzzy control was 1.8 higher than that of LQR.
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