非匹配不确定性影响下的无人车路径跟踪控制
作者:
作者单位:

1.北京科技大学, 北京城市学院;2.北京科技大学

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中图分类号:

TP273

基金项目:

国家自然科学基金项目(61673098), 北京科技大学顺德研究生院科技创新专项资金(BK19BE022), 中央高校基本业务经费.


Path Following Control for Autonomous Vehicles with Mismatched Uncertainties
Author:
Affiliation:

1.University of Science and Technology Beijing,Beijing City University;2.University of Science and Technology Beijing

Fund Project:

Funds of National Natural Science Foundation of China (No. 61673098 ), Scientific and Technological Innovation Foundation of Shunde Graduate School, USTB (No. BK19BE022 ), the Fundamental Research Funds for the Central Universities

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    摘要:

    针对无人车在非匹配不确定性影响下的路径跟踪控制问题,本文设计了一种基于线性矩阵不等式(LMI)的滑模控制器。首先,根据车辆运动学和动力学方程,同时考虑轮胎侧滑造成的不确定性、车辆侧偏约束以及随机干扰影响,建立了车辆非线性不确定系统模型。其次,提出了一种线性滑模路径跟踪控制方法,给出了线性滑模面存在的充分条件,并推导出线性滑模面存在的显式公式,保证约束于该滑模面的降阶等价系统的二次稳定性。最后,在Serret-Frenet坐标系下,验证了车辆单、双移线运动时的路径跟踪控制效果,仿真结果表明本文设计的滑模控制器可以保证对参考路径的稳定跟踪,具有较强的鲁棒性。

    Abstract:

    In this paper, a sliding mode controller based on linear matrix inequality(LMI) is designed to solve the path tracking problem for autonomous vehicle systems with mismatched uncertainties. Firstly, the nonlinear system model is established based on the vehicle kinematics and dynamics equations, taking into account of the uncertainty caused by the sideslip of the tire, the constraint of vehicle sideslip and random interference. Secondly, a linear sliding mode path tracking control method is proposed for the linearized model. LMI is used to provide sufficient conditions for the existence of sliding mode surface which gurantees the quadratic stability of the closed-loop system. Finally, in the serret-Frenet coordinate system, the effectiveness of the method proposed in verified. Simulation results show that the reference path is tracked accurately using the controlled designed in this paper, which provides strong robustness.

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历史
  • 收稿日期:2020-08-01
  • 最后修改日期:2020-10-21
  • 录用日期:2020-11-05
  • 在线发布日期: 2020-12-02
  • 出版日期: