不同轴距车辆路径跟踪研究

摘要/Abstract

摘要：

摘要：针对不同轴距车辆路径跟踪鲁棒性,提出了基于滑模自抗扰控制的平行泊车路径跟踪算法.该算法利用线性滑模控制设计自抗扰控制律中的误差反馈环节，改善了自抗扰控制器的结构，能适用于不同轴距车辆.线性自抗扰控制器能够观测和补偿由于不同车辆轴距引起的不确定性和车辆受到的外界干扰.在假定低车速和小侧偏角情况下，控制器的设计考虑非线性运动学模型及运动学约束.仿真结果表明，基于滑模自抗扰控制的路径跟踪控制算法能够将不确定性部分观测出来并且补偿掉，保证了不同轴距车辆很好地跟踪规划的理想泊车轨迹.

关键词: , 路径跟踪, 滑模自抗扰控制, 平行泊车, 不确定性

Abstract:

Abstract： In order to improve the path tracking robustness for different wheelbase vehicles, this paper proposed a path tracking algorithm for parallel parking based on sliding mode active disturbance rejection control (SMADRC). The linear sliding mode control was used in the algorithm to design the error feedback in ADRC law, which improved the structure of ADRC. The algorithm can be applied to different wheelbase vehicles. The linear active disturbance rejection controller can observe and estimate the external disturbance and uncertainty caused by different wheelbase vehicles. With the assumption of operating conditions such as a low speed and small slip angle, a nonlinear kinematic model with kinematic constraints was used for the design of the controller. Simulation results show that the path tracking algorithm based on sliding mode active disturbance rejection control can observe and compensate the uncertainty, which can guarantee different wheelbase vehicles to track the ideal parking trajectory very well.

Key words: path tracking, sliding mode active disturbance rejection control, parallel parking, uncertainty

中图分类号:

U 471.15

赵又群1，王健1，臧利国1，李波1，伍岳2. 不同轴距车辆路径跟踪研究[J]. 上海交通大学学报（自然版）, 2015, 49(04): 481-486.

ZHAO Youqun1,WANG Jian1,ZANG Liguo1,LI Bo1,WU Yue2. Path Tracking for Different Wheelbase Vehicles[J]. Journal of Shanghai Jiaotong University, 2015, 49(04): 481-486.

参考文献

［1］Huang S J, LIN G Y. Parallel autoparking of a model vehicle using a selforganizing fuzzy controller ［J］. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, 2010, 224(8): 9971012.

［2］Mukherjee R, Anderson A. A surface integral approach to the motion planning of nonholonomic systems ［J］. Journal of Dynamic Systems, Measurement, and Control, 1994, 116(3): 315325.

［3］Laumont J P, Jacobs P E, Taix M, et al. A motion planner for nonholonomic mobile robots ［J］. IEEE Transactions on Robotics and Automation, 1994, 10(5): 577593.

［4］Jiang K, Seneviratne L D. A sensor guided autonomous parking system for nonholonomic mobile robots ［J］. Proceedings in IEEE International Conference on Robotics and Automation, 1999, 1:311316.

［5］吴冰，钱立军，虞明，等. 基于RBF神经网络的自动泊车路径规划［J］. 合肥工业大学学报：自然科学版，2012, 35(4): 459463.

WU Bing, QIAN Lijun, YU Ming, et al. Path planning of automatic parallel parking based on RBF neural network［J］. Journal of Hefei University of Technology, 2012, 35(4):459463.

［6］Fraichard T, Scheuer A. From reeds and shepp’s to continuouscurvature paths ［J］. IEEE Transactions on Robotics, 2004, 20(6): 10251035.

［7］Wang Y J, Cartmell M P. Autonomous vehicle parallel parking design using function fitting approaches ［J］. Robotica, 1998,16(2):159170.

［8］GómezBravo F, Cuesta F, Ollero A, et al. Continuous curvature path generation based on β spline curves for parking manoeuvres ［J］. Robotics and Autonomous Systems, 2008, 56(4): 360372.

［9］Zhao Y N, Collins E G. Robust automatic parallel parking in tight spaces via fuzzy logic ［J］. Robotics and Autonomous Systems, 2005, 51(2):111127.

［10］Ollero A, GarcíaCerezo A, Martínez J L, et al. Fuzzy tracking methods for mobile robots ［J］. Applications of Fuzzy Logic: Towards High Machine Intelligence Quotient Systems, 1997, 9:347364.

［11］Demirli K, Khoshnejad M. Autonomous parallel parking of a carlike mobile robot by a neuro fuzzy sensor based controller ［J］. Fuzzy Sets and Systems, 2009, 160(19):28762891.

［12］Lian K Y, Chiu C S, Chiang T S. Parallel parking a carlike robot using fuzzy gain scheduling ［C］∥Proceedings of the 1999 IEEE International Conference on Control Applications. Hawai, USA:IEEE,1999: 16861691.

［13］Gao Z Q. Scaling and bandwidthparameterization based controller tuning［C］∥Proceedings of the American Control Conference. Denver, Colorado, USA: IEEE, 2003:49894996.

［14］韩京清.从PID技术到自抗扰控制技术［J］. 控制工程，2002, 9(3):1318.

HAN Jingqing. From PID technique to active disturbances rejection control technique［J］. Control Engineering of China, 2002, 9(3):1318.

［15］陈增强，孙明玮，杨瑞光. 线性自抗扰控制器的稳定性研究［J］.自动化学报，2013，39(5)：574580.

CHEN Zengqiang, SUN Mingwei, YANG Ruiguang. Research on the stability of linear active disturbance rejection control ［J］. Acta Automatica Sinica, 2013, 39(5): 574580.

[1]	方晓涛, 严正, 王晗, 徐潇源, 陈玥. 考虑概率电压不平衡度越限风险的共享储能优化运行方法[J]. 上海交通大学学报, 2022, 56(7): 827-839.
[2]	王聚团, 戚晓宁, 黄志明. 水下生产管汇测试技术及其改进研究[J]. 海洋工程装备与技术, 2022, 9(2): 43-49.
[3]	袁振钦, 邹科, 孙亚峰, 刘刚, 屈衍, 李居跃. 基于时域分析法的动态电缆疲劳分析[J]. 海洋工程装备与技术, 2022, 9(2): 50-55.
[4]	张俊涛, 刘晓晶, 张滕飞, 柴翔. 子通道程序对PSBT空泡分布实验计算的不确定性量化分析[J]. 上海交通大学学报, 2022, 56(10): 1420-1426.
[5]	王娟, 杨明旺, 郑茂尧, 刘凌云, 赵立君. 高强钢在大型半潜式平台组块建造中的应用[J]. 海洋工程装备与技术, 2022, 9(1): 27-31.
[6]	陈欣, 赵晓磊, 王立坤, 肖德明, 张腾月. 深水大型吸力锚建造技术研究[J]. 海洋工程装备与技术, 2022, 9(1): 32-36.
[7]	尹彦坤, 易涤非. 半潜式生产平台船体结构关键节点工程临界评估[J]. 海洋工程装备与技术, 2022, 9(1): 52-57.
[8]	冯静，马建. 云动力过程及其辐射效应将如何影响未来全球变暖？[J]. 上海交通大学学报, 2021, 55(Sup.1): 69-71.
[9]	MA Qunsheng (马群圣), CEN Xingxing (岑星星), YUAN Junyi (袁骏毅), HOU Xumin (侯旭敏). Word Embedding Bootstrapped Deep Active Learning Method to Information Extraction on Chinese Electronic Medical Record[J]. J Shanghai Jiaotong Univ Sci, 2021, 26(4): 494-502.
[10]	ZHANG Shengfa (张胜发), TANG Na (唐纳), SHEN Guofeng (沈国峰), WANG Han (王悍), QIAO Shan (乔杉). Universal Software Architecture of Magnetic Resonance-Guided Focused Ultrasound Surgery System and Experimental Study[J]. J Shanghai Jiaotong Univ Sci, 2021, 26(4): 471-481.
[11]	安庆升, 孙立东, 武秋生. 碳纤维增强复合材料发射筒设计研究[J]. 空天防御, 2021, 4(2): 13-.
[12]	KONG Xiangqiang (孔祥强), MENG Xiangxi (孟祥熙), LI Jianbo (李见波), SHANG Yanping (尚燕平), CUI Fulin (崔福林) . Comparative Study on Two-Stage Absorption Refrigeration Systems with Different Working Pairs[J]. J Shanghai Jiaotong Univ Sci, 2021, 26(2): 155-162.
[13]	ZHUANG Weimin (庄蔚敏), WANG Pengyue (王鹏跃), AO Wenhong (熬文宏), CHEN Gang (陈刚) . Experiment and Simulation of Impact Response of Woven CFRP Laminates with Different Stacking Angles[J]. J Shanghai Jiaotong Univ Sci, 2021, 26(2): 218-230.
[14]	ZHOU Xuhui (周旭辉), ZHANG Wenguang (张文光), XIE Jie (谢颉). Effects of Micro-Milling and Laser Engraving on Processing Quality and Implantation Mechanics of PEG-Dexamethasone Coated Neural Probe[J]. J Shanghai Jiaotong Univ Sci, 2021, 26(1): 1-9.
[15]	HUANG Ningning (黄宁宁), MA Yixin (马艺馨), ZHANG Mingzhu (张明珠), GE Hao (葛浩), WU Huawei (吴华伟). Finite Element Modeling of Human Thorax Based on MRI Images for EIT Image Reconstruction[J]. J Shanghai Jiaotong Univ Sci, 2021, 26(1): 33-39.