| 引用本文: | 张腾飞,王恒,张守武,李擎.速度测量不确定性影响下的无人车路径跟踪预瞄控制[J].控制理论与应用,2023,40(3):540~548.[点击复制] |
| ZHANG Teng-fei,WANG Heng,ZHANG Shou-wu,LI Qing.Preview path following control for autonomous vehicles with inaccurate velocity measurement[J].Control Theory and Technology,2023,40(3):540~548.[点击复制] |
|
| 速度测量不确定性影响下的无人车路径跟踪预瞄控制 |
| Preview path following control for autonomous vehicles with inaccurate velocity measurement |
| 摘要点击 1795 全文点击 568 投稿时间：2021-10-28 修订日期：2023-03-13 |
| 查看全文 查看/发表评论 下载PDF阅读器 |
| DOI编号 10.7641/CTA.2022.11042 |
| 2023,40(3):540-548 |
| 中文关键词 无人车 路径跟踪控制 LPV系统 预瞄距离 |
| 英文关键词 autonomous vehicles path following control LPV system preview distance |
| 基金项目 国家自然科学基金项目(62173029, 62273033, U20A20225), 北京科技大学中央高校基本科研业务费专项资金项目(FRF-BD-19-002A)资助. |
|
| 中文摘要 |
| 预瞄距离是无人车路径跟踪预瞄控制系统设计中的一个关键参数, 其选取往往依赖于车辆行驶速度. 然而,
车速的测量不可避免存在偏差, 这必将影响系统的预瞄控制性能. 本文针对这一问题, 在充分考虑车速测量不确定
性对预瞄距离选取影响的基础上, 提出一种基于线性参数变化(LPV)系统的鲁棒H∞路径跟踪预瞄控制算法. 首先,
选取车速和预瞄距离为调度变量, 将原系统转化为一种具有可变权重因子的LPV系统. 然后, 针对无人车系统状态
的不完全可测性, 设计一种基于观测器的鲁棒H∞控制器. 最后, 给出保证闭环系统鲁棒H∞性能的凸优化求解条件.
仿真结果验证了本文提出控制算法的有效性. |
| 英文摘要 |
| The preview distance is a key parameter for the path following control system of autonomous vehicles,
which depends on the vehicle velocity to a great extent. However, there are deviations between the vehicle velocity and
its measurements, and the measurement errors on vehicle velocity inevitably deteriorate the path following performance.
In this paper, considering the effects of the inaccurate measurement of vehicle velocity on the preview distance, an LPVbased
robust H∞ control algorithm is proposed to achieve the path following of autonomous vehicles. First, the original
nonlinear path following system is formulated as an LPV model with variable weight factors, where the vehicle velocity
and the preview distance are chosen as scheduling variables. Then, an observer-based robust H∞ path following controller
is designed for the case that the system state cannot be measured directly. Finally, the convex conditions for the robust H∞
stability of the closed-loop system is provided. Simulation results verify the effectiveness of the control algorithm proposed
in this paper. |
|
|
|
|
|