摘要
为实现车速跟踪期望值的控制目标,研究了含有参数和外部干扰等不确定性的无人驾驶车纵向运动控制问题。采用模糊多滑模控制策略设计基于油门与制动的无人驾驶车纵向运动控制算法。该算法利用模糊逻辑调节滑模增益系数,实现了对不确定性和外部干扰的估计和补偿,并利用Lyapunov稳定性分析方法证明了所得闭环系统的稳定性。最后构造油门控制与制动控制的切换策略以保证油门执行器与制动执行器之间的平滑过渡。分析结果表明:该控制算法可克服不确定性和干扰的影响,具有高精度和强鲁棒性。
To obtain desired values for speed tracking, the long{tudinal motion control algorithm was proposed using multiple sliding-mode control based on fuzzy logic, which worked throughadjusting sliding-mode gain coefficient to estimate and compensate for parametic uncertainties and external disturbance. The stability of the closed-loop system was proved by Lyapunov method.The switching criterion between the throttle actuator and brake actuator was proposed to guarantee the smooth switching between throttle actuator and brake actuator. The results showthat the proposed control algorithm has high tracking accuracy and strong robustness even in presence of parametic uncertainties and external disturbance.
出处
《中国公路学报》
EI
CAS
CSCD
北大核心
2013年第1期170-176,共7页
China Journal of Highway and Transport
基金
国家自然科学基金重点项目(10932003
50901011)
国家重点基础研究发展计划("九七三"计划)项目(2010CB832700)
关键词
汽车工程
无人驾驶车
模糊逻辑
纵向控制
多滑模
切换
automotive engineering
unmanned vehicle
fuzzy logic
longitudinal control
multiple sliding-mode
switching
作者简介
郭景华（1982-），男，山西祁县人，工学博士，博士后，E—mail：guojing_0701@live．cn。
