重庆理工大学学报（自然科学版）2017，Vol.31Issue(10)：6-11,27,7.DOI:10.3969/j.issn.1674-8425(z).2017.10.002
基于双闭环滑模结构的自动泊车路径跟踪控制
Automatic Parking Path Following Control Based on Double Closed-Loop Sliding Mode Structure
摘要
Abstract
In order to improve the accuracy of path tracking control in automatic parking system and ensure the success rate of automatic parking into the small target parking spaces,a double closed-loop sliding mode variable structure tracking control method was proposed.The tracking system of the vehicle kinematic model was transformed into a double closed-loop cascade subsystem with position controller and attitude controller,and a convergence law of exponential and power was designed to ensure the parking path achieves rapid convergence in a limited time,so that the parking tracing path could achieve rapid convergence in a limited time.Based on Matlab/Simulink,the tracking control model was built.The simulation results showed that the path tracking control algorithm designed in this paper could ensure that the tracking point converges to the ideal path,which improves the success rate of automatic parking storage.关键词
自动泊车/路径跟踪/滑模控制Key words
automatic parking/path tracking/sliding mode control分类
交通运输引用本文复制引用
江浩斌,沈峥楠,马世典..基于双闭环滑模结构的自动泊车路径跟踪控制[J].重庆理工大学学报（自然科学版）,2017,31(10):6-11,27,7.基金项目
江苏省产学研前瞻性联合创新项目(BY2012173) （BY2012173）
