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基于机理与数据驱动建模的自适应控制
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Abstract:
针对无人驾驶观光车在路径跟踪过程中难以精确控制的问题，提出了一种基于机理与数据驱动的车辆运动模型的路径跟踪自适应控制算法。首先，提出一种基于机理模型与数据驱动的车辆运动模型。其次，使用改进了的ARX模型的参数辨识方法对误差进行了补偿。然后，设计了自适应路径跟踪控制方案，即求解目标函数准则函数，得到当前系统的最优控制律。最后，仿真结果表明设计路径跟踪自适应控制方案响应速度较快，且稳定性强。
Aiming at the difficulty of precise control in the course of path tracking of unmanned sightseeing vehicles, a path tracking adaptive control algorithm based on mechanism and data-driven vehicle motion model was proposed. Firstly, a vehicle motion model based on mechanism model and data drive is proposed. Secondly, the error is compensated by the improved parameter identification method of ARX model. Then, the adaptive path tracking control scheme is designed, that is, the objective function criterion function is solved, and the optimal control law of the current system is obtained. Finally, the simulation results show that the adaptive control scheme designed for path tracking has fast response speed and strong stability.
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