河北水利电力学院学报

河北水利电力学院学报 ›› 2023, Vol. 33 ›› Issue (1): 1-5.DOI: 10.16046/j.cnki.issn2096-5680.2023.01.001

• 人工智能与机器人专题 •    下一篇

基于自适应动态控制的无人车轨迹跟踪控制器设计

李哲1, 杨宇航2, 尹雁宇2, 尹雅琪2   

  1. 1.唐山市交通运输局,河北省唐山市路北区大里路125号 063000;
    2.北京科技大学自动化学院,北京市海淀区学院路30号 100083
  • 收稿日期:2022-11-04 修回日期:2022-11-07 发布日期:2023-10-26
  • 通讯作者: 杨宇航(1999-),男,北京市人,北京科技大学研究生,主要从事自动驾驶运动控制方向的研究。E-mail:531665457@qq.com
  • 作者简介:李 哲(1973-),男,河北唐山人,高级工程师,主要从事交通应急指挥和调度、交通信息化管理等工作,研究方向为车载导航、路径规划和路径跟踪控制。E-mail:593962743@qq.com
  • 基金资助:
    国家自然科学基金资助项目(62173029)

Design of Trajectory Tracking Controllers for Unmanned Vehicles Based on Adaptive Dynamic Control

LI Zhe1, YANG Yu-hang2, YIN Yan-yu2, YIN Ya-qi2   

  1. 1. Tangshan Department of Transportation, 063000, Tangshan, Hebei, China;
    2. School of Automation and Electrical Engineering, University of Science and Technology Beijing, 100083, Beijing, China
  • Received:2022-11-04 Revised:2022-11-07 Published:2023-10-26

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摘要： 针对无人车系统存在干扰和故障影响的问题,文中设计一种基于滑模观测器的自适应轨迹跟踪控制方法。考虑无人车在运行过程中存在系统参数摄动和执行器传动机构加性故障的情况,同时结合系统非线性结构特性,设计自适应滑模观测器估计故障信号,并在此基础上设计自适应控制律对系统时变参数进行在线估计,保证闭环系统稳定且满足给定路径跟踪性能要求。仿真结果表明,在系统时变参数和执行器加性故障影响下,应用文中设计的控制方法可以取得期望的轨迹跟踪性能且鲁棒性较好。

关键词: 轨迹跟踪, 自适应控制, 滑模观测器, 执行器故障

Abstract: This paper studies the problem of adaptive trajectory tracking control based on sliding mode observer, considering the effects of both disturbances and faults. In order to deal with the parameter uncertainties and faults of actuator drive mechanisms during the operation of unmanned vehicles, combining with the nonlinear structural characteristics of the system, the adaptive sliding mode observer is designed to estimate fault signals, based on which, an adaptive control law is designed to estimate the time-varying parameters online which ensures the stability of the closed-loop system and meets the trajectory tracking requirements. Simulation results show that the control method designed in this paper can achieve desired trajectory tracking performance with good robustness under the influence of system time-varying parameters and additive faults of actuators.

Key words: trajectory tracking, adaptive control, sliding mode observer, fault detection

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