机器人2013，Vol.35Issue(4)：417-424,8.DOI:10.3724/SP.J.1218.2013.00417
基于μ综合的无人驾驶车辆路径跟随串级鲁棒控制方法
UGV Robust Path Following Control under Double Loop Structure with μ Synthesis
摘要
Abstract
For the problem that the path following performance is degraded due to model uncertainty of the unmanned ground vehicle (UGV) during lateral maneuvering,a double loop control structure is designed,in which the path following control is the external loop and the yaw stability control is the inner loop respectively.A robust yaw stability control based on μ synthesis is proposed.Simulation results show that the UGV based on this method has better performance than PID (proportional-integral-derivative) and H∞ controller when model parameters are changed.In comparison experiments,the root mean square error of this method is 1/3 less than PID.The result shows that this method also has robust stability and robust performance with respect to uncertain vehicle parameters.关键词
无人驾驶车辆/路径跟随/μ综合/鲁棒稳定性/鲁棒性能Key words
unmanned ground vehicle (UGV)/ path following/ μ synthesis/ robust stability/ robust performance分类
信息技术与安全科学引用本文复制引用
宋彦,赵盼,陶翔,李碧春,梁华为,梅涛..基于μ综合的无人驾驶车辆路径跟随串级鲁棒控制方法[J].机器人,2013,35(4):417-424,8.基金项目
国家自然科学基金重点资助项目(91120307) （91120307）
国家自然科学基金青年基金资助项目(50908222). （50908222）
