大连理工大学学报2024，Vol.64Issue(4)：376-383,8.DOI:10.7511/dllgxb202404007
基于模糊终端滑模控制器的路径跟踪横向控制策略
Path tracking lateral control strategy based on fuzzy terminal sliding mode controller
摘要
Abstract
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.关键词
智能车辆/路径跟踪/模糊终端滑模控制器/指数趋近律/Lyapunov稳定性理论Key words
intelligent vehicles/path tracking/fuzzy terminal sliding mode controller/exponential reaching law/Lyapunov stability theory分类
信息技术与安全科学引用本文复制引用
葛程,李伟东,黄振柱,何精武,马草原..基于模糊终端滑模控制器的路径跟踪横向控制策略[J].大连理工大学学报,2024,64(4):376-383,8.基金项目
辽宁省科技创新重大专项资助项目(ZX20220560). （ZX20220560）
