具有输入量化和饱和的六自由度自动驾驶车辆的实用预定义时间跟踪控制

IF 5.2 2区 计算机科学 Q2 ROBOTICS
Han Xue, Xiangtao Wang
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引用次数: 0

摘要

轨迹跟踪控制是无人系统控制中的一个基本问题。在实际系统中,执行器通常具有输入量化和饱和约束,如果不考虑这些约束,可能会影响控制的收敛时间、精度,甚至导致系统不稳定。因此,针对无人系统设计一种具有输入量化和饱和特性的实用的预定义时间控制器显得尤为重要。本文提出了一种新的实用的预定义时间控制准则和预定义时间控制准则。设计了一种既能处理输入量化又能处理输入饱和的具有预定义时间收敛性的观测器。它是高效的,没有高的计算成本,局部最优,或复杂的参数调整。它可以处理6自由度的船舶系统受到外界干扰的情况。6自由度模型提供了更全面的动态特性表征。利用自动驾驶汽车模型进行了测试,验证了该算法的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。

Practical Predefined-Time Tracking Control of 6-DOF Autonomous Vehicles With Input Quantization and Saturation

Practical Predefined-Time Tracking Control of 6-DOF Autonomous Vehicles With Input Quantization and Saturation

Trajectory tracking control is a fundamental problem in the control of unmanned systems. In practical systems, actuators often have input quantization and saturation constraints, and failing to account for these constraints can affect control convergence time, precision, and even lead to system instability. Therefore, designing a practical predefined time controller specifically for unmanned systems with input quantization and saturation is particularly important. In this study, a novel practical predefined-time control criterion and predefined-time control criterion are proposed. A novel observer with predefined-time convergence is designed which can deal with both input quantization and input saturation. It is efficient without high computational cost, local optima, or complex parameter tuning. It can deal with ship systems with 6 degrees of freedom exposed to external disturbance. The 6 degrees of freedom model provides a more comprehensive representation of the dynamic characteristics. An autonomous vehicle model is used for testing, and the effectiveness of the proposed algorithm has been demonstrated.

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来源期刊
Journal of Field Robotics
Journal of Field Robotics 工程技术-机器人学
CiteScore
15.00
自引率
3.60%
发文量
80
审稿时长
6 months
期刊介绍: The Journal of Field Robotics seeks to promote scholarly publications dealing with the fundamentals of robotics in unstructured and dynamic environments. The Journal focuses on experimental robotics and encourages publication of work that has both theoretical and practical significance.
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