基于Lyapunov方法的车辆自动路径跟踪控制

ITSC 2001. 2001 IEEE Intelligent Transportation Systems. Proceedings (Cat. No.01TH8585) Pub Date : 2001-08-25 DOI:10.1109/ITSC.2001.948685

J.R. Zhang, S.J. Xu, A. Rachid

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引用次数: 11

摘要

本文研究了车辆自动转向控制器的设计，以跟踪期望路径。考虑了耦合非线性模型。采用适当的变换来处理非线性。这里没有使用小角度假设，也没有忽略模型的非线性耦合项。提出了一种基于李雅普诺夫方法的控制器来处理这一复杂系统。仿真结果表明所设计的控制器是有效的。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Automatic path tracking control of vehicles based on Lyapunov approach

This paper studies the controller design for automatic steering of vehicles to track the desired path. The coupled nonlinear model is considered. A suitable transformation is applied to deal with the nonlinearities. Here, no assumption of small angle is used and no nonlinearly coupling term of the model is ignored. A controller based on Lyapunov approach is derived to handle this complex system. Simulation results show that the designed controller is effective.

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来源期刊

ITSC 2001. 2001 IEEE Intelligent Transportation Systems. Proceedings (Cat. No.01TH8585)

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