引用本文:吴艳,王丽芳,李芳.基于滑模自抗扰的智能车路径跟踪控制[J].控制与决策,2019,34(10):2150-2156
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基于滑模自抗扰的智能车路径跟踪控制
吴艳1,2,3, 王丽芳1,2, 李芳1,2
(1. 中国科学院电力电子与电气驱动重点实验室,北京100190;2. 中国科学院电工研究所,北京100190;3. 中国科学院大学电子电气与通信工程学院,北京100049)
摘要:
针对传统的基于精确数学模型的路径跟踪控制方法很难适应复杂多变驾驶环境的问题,提出一种基于终端滑模控制与自抗扰控制的路径跟踪控制方法.首先,通过构造一个期望偏航角函数能够满足当车辆的实际偏航角趋近于该期望偏航角时其侧向位移偏差趋近于零,从而简化路径跟踪控制;然后,采用扩张状态观测器实时估计系统的未建模动态,同时采用非奇异终端滑模来设计非线性误差反馈律,从而实现偏航角快速、准确地跟踪控制.仿真结果表明,所设计的控制器能够保证车辆稳定行驶的同时快速、精确地跟踪期望的路径.
关键词:  智能车  路径跟踪控制  自抗扰控制  终端滑模控制  扩张状态观测器
DOI:10.13195/j.kzyjc.2018.0179
分类号:U461
基金项目:国家自然科学基金项目(2016YFB0101002);北京市科技计划项目(Z161100001416009).
Intelligent vehicle path following control based on sliding mode active disturbance rejection control
WU Yan1,2,3,WANG Li-fang1,2,LI Fang1,2
(1. Key Laboratory of Power Electronics and Electric Drives,Chinese Academy of Sciences,Beijing100190,China;2. Institute of Electrical Engineering,Chinese Academy of Sciences,Beijing100190,China;3. School of Electronic Electrical and Communication Engineering,University of Chinese Academy of Sciences,Beijing100049,China)
Abstract:
For the traditional path following control method based on precise mathematical models, it is difficult to adapt to the complex and changeable driving environment. A path following control method based on terminal sliding mode control and active disturbance rejection control is proposed. Firstly, the path following control is simplified by constructing a desired yaw angle function that satisfies the condition that the lateral displacement deviation converges zero when the actual yaw angle of the vehicle converges the desired value. Then, the unmodelled dynamics of the system are estimated in real time by the extended state observer, and the non-singular terminal sliding mode is adopted to design the nonlinear error feedback control law to achieve fast and accurate yaw angle tracking control. Simulation results show that the designed controller can ensure that the vehicle runs stably while following the desired path quickly and accurately.
Key words:  intelligent vehicle  path following control  active disturbance rejection control  terminal sliding mode control  extended state observer

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