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智能车辆系统辨识与控制算法研究

, PP. 111-116

Keywords: 汽车工程,智能车辆,Backstepping控制算法,系统辨识,最优控制

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Abstract:

?采用逆M序列作为系统的输入信号,通过最小二乘算法得到车辆转向系统、驱动系统的传递函数,结合车辆预瞄运动学模型和车辆二自由度转向动力学模型,建立车辆转向控制与位置误差数学模型。根据现代控制理论设计最优导航控制器稳定跟踪目标路径,基于Backstepping函数控制算法,选取Lyapunov函数设计智能车辆换道及超车轨迹跟踪控制器。仿真分析和试验结果表明:所设计的控制器在智能车辆户外自主导航中具有良好的跟踪性能。

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