自动独轮车的转向控制

IF 3.9 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

IEEE Transactions on Control Systems Technology Pub Date : 2025-10-03 DOI:10.1109/TCST.2025.3587096

Máté B. Vizi;Gábor Orosz;Dénes Takács;Gábor Stépán

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引用次数: 0

摘要

研究了自主独轮车的转向控制问题。从稳态运动及其稳定性出发，讨论了单轮滚动系统的基本动力学模型。介绍了独轮车模型作为滚动轮的最简单的扩展，其中重心的位置是可控的。在Appellian方法的帮助下，以构造最紧凑的非线性运动方程的方式建立了受控非完整系统的状态空间表示。在可控性分析的基础上，设计了能成功实现变道和转向机动的反馈控制器。通过数值模拟验证了闭环系统的特性。

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Steering Control of an Autonomous Unicycle

The steering control of an autonomous unicycle is considered. The underlying dynamical model of a single rolling wheel is discussed regarding the steady-state motions and their stability. The unicycle model is introduced as the simplest possible extension of the rolling wheel, where the location of the center of gravity is controlled. With the help of the Appellian approach, a state-space representation of the controlled nonholonomic system is built in a way that the most compact nonlinear equations of motion are constructed. Based on controllability analysis, feedback controllers are designed that successfully carry out lane changing and turning maneuvers. The behavior of the closed-loop system is demonstrated by numerical simulations.

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来源期刊

IEEE Transactions on Control Systems Technology 工程技术-工程：电子与电气

CiteScore

10.70

自引率

2.10%

发文量

218

审稿时长

6.7 months

期刊介绍： The IEEE Transactions on Control Systems Technology publishes high quality technical papers on technological advances in control engineering. The word technology is from the Greek technologia. The modern meaning is a scientific method to achieve a practical purpose. Control Systems Technology includes all aspects of control engineering needed to implement practical control systems, from analysis and design, through simulation and hardware. A primary purpose of the IEEE Transactions on Control Systems Technology is to have an archival publication which will bridge the gap between theory and practice. Papers are published in the IEEE Transactions on Control System Technology which disclose significant new knowledge, exploratory developments, or practical applications in all aspects of technology needed to implement control systems, from analysis and design through simulation, and hardware.