然后利用LQ最优控制技术，构造了车辆沿着基准轨迹进行行驶路线变更的反馈控制器。

Then based on the LQ optimal control technique, the feedback controllers for lane change along the planned path were constructed.

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利用非速度信息，如：电机的电压、电流及电机本身参数，通过滑模观测器产生控制器所需的速度反馈信息。

The control system utilizes a sliding mode observer for the generation of all controller feedback information by means of non-speed information, such as voltage, current and parameters of motor.

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利用最优反馈矩阵来加权模糊控制器的输入变量。

The optimal feedback matrix was used to weight the input variable of fuzzy controller.

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