机器人驾驶车辆的横向自适应反演切换控制*

doi:10.19562/j.chinasae.qcgc.2020.01.002

摘要/Abstract

摘要： 为实现不同速度工况下的车辆稳定转向和路径跟踪,提出了一种机器人驾驶车辆横向自适应反演切换控制方法。构建了7自由度车辆横纵向动力学模型,并基于等效转动惯量的概念,建立了驾驶机器人转向机械手动力学模型。定义了转向机械手每个子系统的虚拟控制量、模糊隶属度函数和Lyapunov函数,设计了模糊自适应反演控制器和状态切换器。本文提出方法与其他控制方法的仿真和人类驾驶车辆的试验验证了所提出方法的有效性。

关键词: 驾驶机器人, 纵横向动力学, 路径跟踪, 模糊自适应反演控制器, 状态切换器

Abstract: In order to achieve the stable steering and path tracking of vehicle at different speeds, a lateral adaptive backstepping switching control scheme for robot-driven vehicle is proposed. A 7-DOF vehicle longitudinal and lateral dynamics model is set up, and based on the concept of equivalent moment of inertia, a dynamics model for the steering manipulator of driving robot is also established. The virtual control variables, fuzzy membership function and Lyapunov function of each subsystem in steering manipulator are defined and fuzzy adaptive inversion controller and state switcher are designed. Comparative simulations on the scheme proposed and other control schemes and human-driven vehicle test verify the effectiveness of the scheme proposed

Key words: driving robot, longitudinal and lateral dynamics, path tracking, fuzzy adaptive backstepping controller, state switcher

苏树华, 陈刚. 机器人驾驶车辆的横向自适应反演切换控制^*[J]. 汽车工程, 2020, 42(1): 11-19.

Su Shuhua, Chen Gang. Lateral Adaptive Backstepping Switching Control for Robot-driven Vehicles[J]. Automotive Engineering, 2020, 42(1): 11-19.

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机器人驾驶车辆的横向自适应反演切换控制^*

Lateral Adaptive Backstepping Switching Control for Robot-driven Vehicles

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