汽车工程学报2024，Vol.14Issue(2)：181-192,12.DOI:10.3969/j.issn.2095‒1469.2024.02.03
考虑参数不确定性的无人车预设性能路径跟踪控制
Prescribed Performance Path Following for Self-Driving Vehicles Considering Parametric Uncertainties
摘要
Abstract
To ensure path tracking control precision in self-driving vehicles with uncertain parameters,the paper proposes an output-feedback control method with the prescribed control performance criteria.Firstly,by constructing the lateral offset error at the driver's preview point,a second-order error integration system is established.Considering the unknown lateral velocity and perturbation in the tire cornering stiffness,a control model containing lumped unknown states is established by using the extended state method.The unknown states of the system are obtained by designing a linear extended state observer and the uniformly bounded convergence of the observation error is further proved.Then,to address the issue that the transient and steady-state performance of vehicles cannot meet the predefined accuracies,an output feedback path following controller with prescribed performance is proposed,incorporating observer estimations.The stability of the closed-loop system is rigorously proved based on the Lyapunov theory.Finally,Matlab/Simulink simulation results show that the designed control strategy effectively tracks the reference path with the desired accuracy.Moreover,the proposed control method is further verified via the hardware-in-the-loop experiment and the results show that the lateral tracking errors are consistently maintained within the predefined safety range with strong robustness.关键词
无人车/路径跟踪/预设性能/模型不确定性Key words
self-driving vehicles/path following/prescribed performance/model uncertainties分类
交通工程引用本文复制引用
王泰琪,肖润谋,王畅,张新锋..考虑参数不确定性的无人车预设性能路径跟踪控制[J].汽车工程学报,2024,14(2):181-192,12.基金项目
国家自然科学基金项目(51879049) （51879049）
陕西省重点研发计划项目(2022GY-303) （2022GY-303）
陕西省自然科学基础研究计划项目(2024JC-YBQN-0452) （2024JC-YBQN-0452）
