具有不确定参数的车道保持终端滑模控制

为研究具有参数不确定性的自动化公路系统车道保持控制,假定车辆质量、转动惯量、轮胎侧偏刚度等不确定参数有界,基于位置预瞄策略和车辆侧向动力学模型,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;采用终端滑模控制方法,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.仿真结果显示,该文设计的控制规律可使车辆侧向位置误差与横摆角误差具有较快的收敛率.

Terminal sliding mode control for lane keeping with parametric uncertainties

The lane keeping control law with parametric uncertainties for automated highway systems was studied.With the assumption of the boundness of such uncertain parameters as the mass of vehicle,moment of inertia and tire cornering stiffness,etc,the dynamic equations for vehicle lateral position error and yaw angle error were established based on the look-ahead scheme and vehicle lateral dynamic model.The variable structure control law for lane keeping was designed by using the terminal sliding mode,and Lyapunov stability theory was used to analyze stability of the control systems.Simulation results show that the control method designed here has fast convergence rate for the lateral displacement error and yaw angle error.