摘要
为提高四轮驱动智能汽车的车道保持性能,提出了一种速度相关的静态输出反馈控制方法。考虑车辆存在纵向速度与轮胎侧偏刚度等不确定因素,采用鲁棒增益调度方法来处理系统的非线性问题;然后,针对实际应用中存在不可测的状态变量,将主动前轮转向与横摆力矩控制算法结合,设计一种模糊输出反馈的鲁棒协同控制策略;最后,基于李雅普诺夫函数将鲁棒控制问题转化为线性矩阵不等式求解控制增益问题,再通过差动分配策略对力矩进行分配。仿真结果验证了所提控制策略的有效性。
To improve the lane keeping performance of four-wheel drive intelligent vehicle,a velocity-related static output feedback control method is proposed.Considering the uncertain factors such as longitudinal velocity and tire cornering stiffness,a robust gain scheduling method is adopted to handle the nonlinear of the system.Then,to address the presence of unmeasurable state variables in practical applications,active front wheel steering is combined,with yaw moment control algorithm and a fuzzy output feedback robust coordinated control strategy is designed.Finally,based on the Lyapunov function,the robust control problem is transformed into linear matrix inequality to solve the control gain problem,and the torque is allocated through a differential distribution strategy.Simulation results validate the effectiveness of the proposed control strategy.
作者
李凯
韩增文
陈金建
李斌
王洪波
LI Kai;HAN Zengwen;CHEN Jinjian;LI Bin;WANG Hongbo(Guangdong Airport Authority,Guangzhou 510440,China;HIT Robot Group(Zhongshan)Institute of Unmanned Equipment and Artificial Intelligence,Zhongshan 528400,China)
出处
《传感器与微系统》
CSCD
北大核心
2023年第12期95-98,102,共5页
Transducer and Microsystem Technologies
基金
广东省重点领域研发计划资助项目(2020B0101130024)。
关键词
车道保持
协同控制
输出反馈
参数不确定性
lane keeping
coordinated control
output feedback
parameter uncertainty
