聊城大学学报（自然科学版）2024，Vol.37Issue(4)：14-22,9.DOI:10.19728/j.issn1672-6634.2023110008
基于自抗扰采样控制的车辆转向跟踪
Vehicle Steering Tracking Based on Sampled-Data Active Disturbance Rejection Control
摘要
Abstract
The model reference tracking control problem of four-wheel-steering vehicle was investigated by using sampled-data active disturbance rejection control(ADRC).A sampled-data-driven extended state observer was designed to estimate both tracking error and crosswind disturbance,and a sampled-data AD-RC was constructed using the estimated tracking error and estimated disturbance.Using the augmented system and input delay system modeling methods plus the Lyapunov-Krasovskii functional method,a sam-pled-period-dependentH੭performance analysis result was derived.Further,an optimal control design al-gorithm resorting to the cone complementarity linearization technology was provided to obtain the minimal H੭performance index and realize the co-design of controller gain and observer gain.Simulation results verified that the proposed sampled-data ADRC method can force the vehicle sideslip angle and yaw rate to track the desired targets through front and rear wheel steering in a sampled-data environment,while the classical control method based on disturbance observer can not complete the tracking control task;and the proposed control method can reduce the tracking error by 95%compared with the classical proportional control method.关键词
四轮转向/自抗扰控制/采样控制/鲁棒控制Key words
four wheel steering/active disturbance rejection control/sampled-data control/robust control分类
信息技术与安全科学引用本文复制引用
刘亚辉,高子凡,朱淑倩,王庭瑞..基于自抗扰采样控制的车辆转向跟踪[J].聊城大学学报（自然科学版）,2024,37(4):14-22,9.基金项目
国家自然科学基金项目(62373220,62173209) （62373220,62173209）
山东省自然科学基金项目(ZR2023MF011)资助 （ZR2023MF011）
