摘要
为解决自主车辆的跟随控制中误差系统的稳定性问题,基于Leader-follower法设计了车辆跟随控制器。对自主车辆进行运动学建模,采用Leader-follower模型描述车辆跟随结构,用L-φ控制方法建立车辆跟随误差系统,设计跟随车辆的速度控制器,以实现跟随车辆对领航车辆的稳定跟随。通过Matlab仿真实验结果证明,该控制器使误差最终收敛到0,能达到跟随控制的目的。
In order to solve the problem of the error system in the following control of autonomous vehicle, the following controller is designed based on Leader-follower strategies. The kinematic modeling is done. Leader-follower model is used to describe the following structure and L-φ method is used to build error system. The speed controller for the follower is designed to achieve the objectives. Finally, the simulation is done by Matlab, the results show that the controller can make the error converge to zero so that it can achieve its goal.
出处
《吉林大学学报（信息科学版）》
CAS
2016年第2期252-258,共7页
Journal of Jilin University（Information Science Edition）
基金
吉林大学"985"工程仿生科技创新平台基金资助项目
