有界变参数车道保持准滑模控制

假定车辆质量、转动惯量、轮胎侧偏刚度等参数具有不确定性,考虑时变有界和慢变未知两种情况,研究了自动化公路系统车道保持控制方法.基于位置预瞄策略和车辆横向动力学模型,建立预瞄点处的车辆横向位置误差和横摆角误差动态方程;采用准滑模控制方法,设计车道保持变结构控制规律;基于李雅普诺夫稳定性理论,对控制系统的稳定性进行分析.仿真实验表明,采用文中设计的控制方法,在达到满意跟踪性能的同时,还能有效抑制颤振,对参数不确定性具有鲁棒性.

Quasi-Sliding Mode Control for Lane Keeping with Bounded and Varying Parameters

In the presence of parametric uncertainty, such as the mass of vehicle, inertia of vehicle about vertical axis, and tire cornering stiffness of vehicle, the lane keeping control for automated highway systems was studied. Two cases were investigated: the bounded time-varying parameters and unknown slowly varying parameters. Applying the look-ahead scheme and vehicle lateral dynamic mode, the dynamical equations of lateral displacement error and yaw angle error at the look-ahead distance were established. By using the method of quasi-sliding mode, the variable structure control law for lane keeping was designed. The stability of control system was analyzed using Lyapunov theory. Simulation results show that the control scheme proposed here not only has a strong robustness to parametric uncertainties, but also has a good tracking performance without the disadvantage of control chattering.