摘要
在考虑车辆动力学特性和执行器饱和约束的前提下,将无人驾驶车辆的运动控制问题转化为纵向和横向的渐进跟踪问题,以上层的期望车速和期望道路曲率为控制目标,利用反馈线性化的思想,设计了一种前馈加抗饱和积分的动力学控制算法,并且基于李雅普诺夫函数证明了闭环系统平衡点的渐进稳定。实车试验表明,该动力学控制算法能够快速准确地实现车速和道路曲率的跟踪,从而验证了其有效性。
Considering the dynamic characteristics of the vehicle and the saturation constraints of the actuator, the problem of vehicle motion control is transformed into longitudinal and horizontal progressive tracking problem, the control targets are the desired speed and road curvature from the upper controller, a dynamic control algorithms including speed control and yaw rate control are proposed using feedback linearization, which contains feedforward with state variable feedback overcoming integral saturation, and the asymptotic stability of the dynamic tracking system is proved with the establishment of the lyapunov function. The dynamic control algorithms are verified by real vehicle test, which can track the speed and road curvature quickly and accurately.
作者
熊璐
付志强
柏满飞
章仁燮
Xiong Lu;Fu Zhiqiang;Bai Manfei;Zhang Renxie(Tongji University, Shanghai 201804)
出处
《汽车技术》
CSCD
北大核心
2017年第11期1-6,共6页
Automobile Technology
基金
国家科技支撑计划项目(2015BAG17B01)
国家自然科学基金项目(51475333)
关键词
无人车
动力学控制
车速跟踪
横摆角速度跟踪
Unmanned ground vehicle, Dynamic control, Speed tracking, Yaw rate tracking
