| 基于反馈线性化的无人驾驶车辆横向位置跟踪控制 |
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| 引用本文： | 刘子龙.基于反馈线性化的无人驾驶车辆横向位置跟踪控制[J].系统工程与电子技术,2009,31(1):165-169. |
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| 作者姓名： | 刘子龙 |
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| 作者单位： | 1. 上海理工大学计算机与电气学院, 上海, 200093;2. 上海交通大学机器人研究所, 上海, 200240 |
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| 基金项目： | 中国博士后科学基金，上海理工大学博士科研启动基金 |
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| 摘 要： | 由于无人驾驶车辆横向运动学模型常被看作高非线性、时变的,所以这给控制方案的制定带来了较大的难度。提出了基于输入输出反馈线性化的横向位置跟踪控制方案。采用这种控制方案在车体正向和倒向开车的情况下,都得到较好的横向跟踪效果,动态特性好、稳态精度高。基于由Simulink和VRML语言建立起的三维动画仿真也说明了这一点。
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| 关 键 词： | 无人驾驶车 横向位置跟踪 反馈线性化 |
| 收稿时间： | 2007-09-24 |
| 修稿时间： | 2007-12-07 |
Lateral position tracking control of unpiloted vehicle based on feedback-linearization |
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| LIU Zi-long.Lateral position tracking control of unpiloted vehicle based on feedback-linearization[J].System Engineering and Electronics,2009,31(1):165-169. |
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| Authors: | LIU Zi-long |
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| Institution: | 1. School of Computer and Electrical Engineering, Univ. of Shanghai for Science and Technology, Shanghai 200093, China;2. Inst. of Robotics, Shanghai Jiaotong Univ., Shanghai 200240, China |
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| Abstract: | Since the lateral kinematics model for unpiloted vehicle is usually considered as high nonlinear and time-varying,this makes it difficult to design a proper strategy for lateral position tracking control.A corresponding feedback-linearization tracking control strategy is proposed.In both forward and backward driving circumstances,this control scheme shows good dynamic response and high precision stability,and the simulation on 3D animation using Simulink and VRML is presented to verify the validity. |
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| Keywords: | Simulink VRML |
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