基于自适应卡尔曼滤波的车辆编队控制  

Vehicle formation control based on adaptive Kalman filter

作　　者：俞志英[1] 郭戈[1] 

机构地区：[1]大连海事大学信息科学技术学院,辽宁大连116026

出　　处：《辽宁工程技术大学学报（自然科学版）》2016年第11期1312-1315,共4页Journal of Liaoning Technical University (Natural Science)

基　　金：国家自然科学基金项目(61273107和61304192);大连市领军人才支持计划项目(2012Z0036);中央高校基本研究项目(3132013334)

摘　　要：针对具有网络传输延时和噪声的多车辆系统的编队问题,提出了一种基于自适应卡尔曼滤波器的协作路径跟踪控制方法.根据车辆运动学模型和给定队形及其路径参数,给出车辆协作路径跟踪控制器设计方法,将系统线性化,针对延时情况重构状态方程,用自适应卡尔曼滤波算法滤除噪声的影响,实现系统稳定控制.仿真实验证明了该方法的有效性.Aiming at the formations control problem of a multi-vehicles system with network transmission delay and noise, this paper presents the coordinated path following control method with adaptive Kalman filter based on vehicles kinematics models. Firstly according to the vehicles kinematics model and the given formation and path parameters, multi-vehicles coordinated path following controller design method is shown, and then the state equations are reconstructed for the time delay linearization system. The system is stably controlled used the adaptive Kalman filtering algorithm for filtering the noise influence. Simulation results prove the effectiveness of the proposed method.

关 键 词：车辆编队 路径跟踪 卡尔曼滤波器 自适应滤波 协作控制 

分 类 号：TP29[自动化与计算机技术—检测技术与自动化装置]