关键词: 智能汽车, 纵向动力学控制, 数据驱动控制, 无模型自适应控制, 滑模控制, 模型预测控制

Abstract:

In view of that the vehicle longitudinal dynamics system is a typical nonlinear discrete system with time-varying parameters and multiple disturbances， so the control algorithm based on accurate mathematical model is hard to achieve ideal results， an algorithm merely based on input/output data without model is adopted in this paper. Firstly， based on the compact-format dynamic linearization model， the model-free adaptive controller （MFAC） algorithm is combined with sliding-mode control （SMC） algorithm and model predictive control （MPC） algorithm to design a model-free adaptive controller. Then its stability is proved by theoretical analysis. Finally， a comparative simulation is conducted to compare the control algorithm proposed with the feedforward + feedback algorithm commonly used in longitudinal control and MFASMC （MFAC+SMC） algorithm， with a hardware-in-the-loop test carried out to verify the effectiveness of the algorithm proposed. The results show that the control algorithm proposed has fast response， strong robustness and smoother output， and can be better applied to the longitudinal dynamics control of intelligent vehicles.

Key words: intelligent vehicle, longitudinal dynamics control, data-driven control, model-free adaptive control, sliding-mode control, model predictive control