在参数变化情况下,利用超扭转算法对地面车辆进行主动控制

L. Etienne, S. Gennaro, J. Barbot
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引用次数: 9

摘要

在本文中,我们考虑了一个车辆配备主动前转向和后扭矩矢量。前者增加了驾驶员输入的增量转向角度,后者通过后桥施加扭矩。主动前转向控制通过前轮胎驱动,而后扭矩矢量控制可以通过后轮胎驱动。为了在有限时间内跟踪横向角速度和偏航角速度,设计了一种采用超扭转算法的非线性控制器。我们考虑了文献中给出的一种估计方法来估计轮胎-道路系数,并设计了一个动态控制器来估计由于车辆质量和惯性变化以及轮胎参数变化引起的扰动项。并与一种简单的基于pi的控制器进行了比较,仿真结果表明了该控制器的优越性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Active ground vehicle control with use of a super-twisting algorithm in the presence of parameter variations
In this paper, we consider a vehicle equipped with active front steer and rear torque vectoring. While the former adds an incremental steer angle to the driver's input, the latter imposes a torque by means of the rear axle. The active front steer control is actuated through the front tires, while the rear torque vectoring can be actuated through the rear tires. A nonlinear controller using the super-twisting algorithm is designed in order to track in finite time lateral and yaw angular velocity references. We consider one estimation method, given in the literature, to estimate the tire-road coefficient, and we design a dynamic controller to estimate the perturbing terms due to the vehicle's mass and inertia variations, and due to the variation of the tire parameters. Comparisons with a simple PI-based controller are done, and some simulation results highlight the advantages of the proposed controller.
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