重庆理工大学学报（自然科学版）2025，Vol.39Issue(3)：65-71,7.DOI:10.3969/j.issn.1674-8425(z).2025.02.008
考虑参数不确定的车辆路径跟踪鲁棒最优积分滑模控制
Robust optimal integral sliding mode control for vehicle path tracking considering parameter uncertainties
摘要
Abstract
To address the low tracking accuracy and poor robustness in trajectory tracking of intelligent vehicles,we design a path tracking controller considering parameter uncertainty based on robust optimization theory.First,a path tracking controller based on linear quadratic regulator(LQR)is designed by using a two-degree-of-freedom linear model without considering uncertainty.Then,to remedy the parameter uncertainty and external disturbance,a robust optimal control strategy is designed by combining LQR optimal control and integral sliding mode control.It achieves the optimal control and has good robustness to uncertain parameters and external disturbances.The stability analysis of the proposed robust optimal controller control strategy is conducted by using Lyapunov stability theory.Finally,the Carsim and Matlab/Simulink are used to simulate the dry and wet road conditions of the double-shift line.Our results show the designed controller effectively improves the control accuracy compared with the ordinary LQR controller and has stronger robustness.关键词
路径跟踪/鲁棒最优理论/积分滑模/LQR/参数不确定性Key words
path tracking/robust optimal theory/integral sliding mode/LQR/parameter uncertainty分类
交通工程引用本文复制引用
余梦成,赵又群,林棻,何鲲鹏,尤庆伸..考虑参数不确定的车辆路径跟踪鲁棒最优积分滑模控制[J].重庆理工大学学报（自然科学版）,2025,39(3):65-71,7.基金项目
芜湖市重点研发与成果转化项目(2023YF010) （2023YF010）
国家自然科学基金项目(52272397,11672127) （52272397,11672127）
中央高校基本科研业务费专项资金资助项目(NP2022408) （NP2022408）
