非奇异快速的终端滑模控制方法及其跟车控制应用

Nonsingular fast terminal-sliding-mode control method and its application on vehicular following system

中文关键词  车辆  跟车  终端滑模  最少传感器

英文关键词  vehicle  vehicular following  terminal-sliding-mode  minimum sensor

中文摘要

      最少传感器跟车系统中, 跟踪误差收敛缓慢和对前车干扰鲁棒性差是两个主要问题. 基于终端滑模(TSM)控制方法, 设计一种控制量非奇异且收敛快速的跟车控制律, 并实现其实车应用. 回顾已有非奇异快速终端滑模控制方法的基本原理; 分析最少传感器跟车系统的特点, 建立包含车辆和车间纵向动力学特性的两状态模型, 设计非奇异快速终端滑模控制律; 证明闭环系统到达阶段和滑动阶段的快速收敛特性, 以及它对前车加减速干扰的强鲁棒性. 仿真分析及实车实验表明, 该控制器输出的节气门开度光滑无抖振, 本车平稳快速跟随前车行驶, 且当前车加 速度有界时, 闭环系统鲁棒收敛.

英文摘要

      In a minimum-sensor vehicular following system, the slow convergence of tracking errors and low robustness to preceding vehicle’s disturbance are two key issues. Based on the terminal-sliding-mode(TSM) control method, this paper presents a vehicular following controller with nonsingular control input and fast convergent characteristic, and realizes its application on practical vehicular following. First, we review the fundamentals of the existing nonsingular fast TSM control method. Then, by analyzing the characteristic of a minimum-sensor vehicular following system, a two-state space model including vehicular and intervehicular longitudinal dynamics is built and its vehicular following controller is designed using the reviewed method above. Further, the fast convergent characteristic of the closed-loop system on both sliding phase and reaching phase is realized; and its strong robustness to the disturbance from the preceding vehicle’s accelerating/decelerating process is also established. Simulations and experiments indicate that this controller smoothly regulates the continuous-time throttle opening, realizing a fast and stable vehicular following process with a high robustness to the bounded acceleration of the preceding vehicle.