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

Abstract

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

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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Lateral Adaptive Backstepping Switching Control for Robot-driven Vehicles

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