不同轴距车辆路径跟踪研究

上海交通大学学报（自然版） ›› 2015, Vol. 49 ›› Issue (04): 481-486.

不同轴距车辆路径跟踪研究

赵又群1，王健1，臧利国1，李波1，伍岳2

(1. 南京航空航天大学能源与动力学院，南京 210016； 2. 重庆交通大学机电与汽车工程学院，重庆 400074)

收稿日期:2014-09-24 出版日期:2015-04-28 发布日期:2015-04-28
基金资助:
国家自然科学基金资助项目（11072106）

Path Tracking for Different Wheelbase Vehicles

ZHAO Youqun1,WANG Jian1,ZANG Liguo1,LI Bo1,WU Yue2

(1. College of Energy and Power Engineering, Nanjing University of Aeronautics and Astronautics，Nanjing 210016, China; 2. School of Mechanical and Automotive Engineering, Chongqing Jiaotong University, Chongqing 400074, China)

Received:2014-09-24 Online:2015-04-28 Published:2015-04-28

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.

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