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

Abstract

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

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.

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Trajectory Tracking of Skid Steer Unmanned Vehicle Based on Backstepping

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