无人陆地车辆的自学习PD迭代纵向控制器  

An Iterative Learning PD Longitudinal Controller for Unmaned Land Vehicles

作　　者：李果[1] 张良起[1] 张彭 

机构地区：[1]长沙国防科技大学三系

出　　处：《控制理论与应用》1994年第6期713-719,共7页Control Theory & Applications

摘　　要：本文研究自动汽车速度跟踪问题，由于汽车纵向动力学中存在严重非线性和不确定性，本文提出设计一种自学习ＰＤ迭代非线性控制器．只要选择合适的控制器增益和训练因子，可使跟踪误差足够小．增益的选择几乎不依赖于动力学，只与状态量变化范围有关．因此，此方法对许多控制对象均可施用．有理论和实验结果证明此方法的有效性．For the velocity-following problem of a unmaned land vehicle,the iterative learning PD controller is shown to be adaptive with respect to highly nonlinear dynamics by properly choosing the control gains and training factor.The choices s for the gains hardly depend on the nonlinear dynamics.This paper Precis a learning control scheme that provides the ability for machines to utilize their past experiences Experiment results are presented to validate the conclusions.

关 键 词：学习控制 陆地车辆 纵向控制 

分 类 号：U469.79[机械工程—车辆工程]