车辆轨迹的预瞄与模糊分数阶比例-积分-微分控制

为提高无人车辆轨迹控制的精度，提出了一种基于预瞄误差建模和优化模糊分数阶PID控制的车辆路径跟踪方法。根据车辆动力学特性，引入预瞄横向误差模型，以预瞄横向误差为输入，车辆前轮转角为输出，调整转角角度减小偏差实现轨迹跟踪，设计模糊分数阶PID跟踪控制器。该控制器在PID的基础上结合分数阶理论，同时利用粒子群算法优化的模糊控制器对参数进行在线调整。在CarSim/Simulink联合仿真平台进行仿真研究。研究结果表明，本文所设计的控制器可行有效，为轨迹控制的研究提供了参考。

Vehicle track control based on preview and Fuzzy Fractional order PID

In order to improve the precision of trajectory control of unmanned vehicle, a vehicle path tracking method based on preview error modeling and fuzzy fractional PID control was proposed. According to vehicle dynamics characteristics and considering actuator constraints, a preview lateral error model was introduced.Taking preview lateral error as input and front wheel Angle as output, a fuzzy fractional order PID tracking controller was designed to realize trajectory tracking by adjusting Angle Angle to reduce deviation. The controller combines fractional order theory with PID and adjusts parameters online by using fuzzy rules optimized by particle swarm optimization. The simulation was carried out on CarSim/Simulink co-simulation platform. The results show that the controller designed in this paper is feasible and effective, which provides a reference for the research of trajectory control.