基于反步法的差动转向无人车辆轨迹跟踪*

doi:10.19562/j.chinasae.qcgc.2019.011.001

摘要/Abstract

摘要： 为满足车辆高速大侧向加速度工况下的跟踪要求,本文中对差动转向无人车辆的系统动力学特性和相关稳定性问题进行研究,分析了车辆航向角跟踪误差和路径跟踪的动力学稳定性。基于反步法和饱和控制设计的动力学控制器在稳定车辆内动态的同时跟踪给定的航向角信号。仿真结果证明了所提出控制方案的可靠性,在航向角1阶导数为零或常数的条件下,系统具有良好的跟踪性能。同时,控制器之间的互联稳定性使系统对于一般工况下的目标轨迹都具有良好的跟踪性能。

关键词: 无人车辆, 轨迹跟踪, 反步法, 互联稳定性

Abstract: To meet the tracking requirements under the condition of high speed and large lateral acceleration, the dynamics characteristics and related stabilization problem of a skid steer unmanned vehicle are studied, and the course angle tracking error and the dynamics stability of path tracking of vehicle are analyzed in this paper. The dynamics controller, which is designed based on backstepping and saturation control techniques, tracks the given signal of course angle while stabilizing the internal dynamic state of vehicle. Simulation results demonstrate the reliability of proposed control scheme and the outstanding tracking performance of system under the condition of zero or constant 1st-order derivative of course angle. Meanwhile, the stability of the interconnection between controllers guarantees good system performance in tracking target path under general conditions.

Key words: unmanned vehicle, trajectory tracking, backstepping, interconnection stability

余卓平, 侯誉烨, 熊璐, 陈素琴. 基于反步法的差动转向无人车辆轨迹跟踪^*[J]. 汽车工程, 2019, 41(11): 1229-1234.

Yu Zhuoping, Hou Yuye, Xiong Lu, Chen Suqin. Trajectory Tracking of Skid Steer Unmanned Vehicle Based on Backstepping[J]. Automotive Engineering, 2019, 41(11): 1229-1234.

参考文献

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基于反步法的差动转向无人车辆轨迹跟踪^*

Trajectory Tracking of Skid Steer Unmanned Vehicle Based on Backstepping

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