基于双率采样的智能车辆直道轨迹跟踪控制  

Trajectory Tracking Control of an Intelligent Vehicle on Straight Lane via Dual-Rate Sampling

作　　者：孙娜[1] 李晓芳[1] 王娜[1] SUN Na;LI Xiao-fang;WANG Na(Department of Basic Education, Shanxi Technology and Business College, Taiyuan 030006, China)

机构地区：[1]山西工商学院基础教学部,山西太原030006

出　　处：《唐山师范学院学报》2017年第2期57-61,90,共6页Journal of Tangshan Normal University

摘　　要：针对直道上智能车辆在行驶过程中存在随机干扰的问题,基于传感器采样周期的不同,引入双率采样方案,建立状态补偿机制以小采样周期重构系统状态,设计了基于双率采样的切换控制器。在Matlab/Simulink环境下,对汽车模型的路径跟踪控制进行仿真,验证了基于双率采样切换控制方案的合理和有效性。This paper investigates the trajectory tracking control problems of the intelligent vehicle via dual-rate sampling on straight way.Considering the random disturbance existed in the driving process of the vehicle,it introduces the multi-rate sampling scheme based on the different sampling period of sensors,and establishes state compensation mechanism to reconstruct the system state based on small sampling period and designs switching state feedback controller based on dual-rate sampling.Finally,the simulation of the trajectory tracking control by a Matlab/Simulink illustrates the rationality and effectiveness of the proposed switched control method which based on multi-rate sampling.

关 键 词：智能车辆控制 轨迹跟踪 双率采样 切换控制 LYAPUNOV稳定性 线性矩阵不等式(LMI) H.控制 

分 类 号：O23[理学—运筹学与控制论]