基于模糊终端滑模控制器的路径跟踪横向控制策略OA北大核心CSTPCD

A path tracking lateral control strategy for intelligent vehicles based on fuzzy terminal sliding mode controller(FTSMC)is proposed,which is aimed at overcoming the challenges of poor tracking accuracy and insufficient stability encountered when using traditional sliding mode controller(SMC).Firstly,the two degree of freedom dynamic model and path tracking error model are established,and a terminal sliding mode controller(TSMC)is designed using an improved exponential reaching law.Secondly,in order to solve the chattering problem in SMC,the boundary layer in the exponential reaching law is optimized on-line using fuzzy logic,and the stability of the control system is proven based on Lyapunov stability theory.Finally,a co-simulation model of Matlab/Simulink and Carsim is established to validate the effectiveness of the proposed control strategy.The result shows that,under two working conditions of low and high vehicle speeds,the maximum lateral displacement deviations of the FTSMC are reduced by 14.4％and 23.3％respectively,and the maximum deviations of yaw angle are reduced by 11.0％and 18.9％respectively.The chattering phenomenon is significantly suppressed.