无人驾驶车辆稳态漂移的无模型自适应控制  

Model-free adaptive control of steady-state drift of unmanned vehicles

作　　者：王洪斌[1] 左佳铄 刘世达 郑维[1] 王力[2] WANG Hong-bin;ZUO Jia-shuo;LIU Shi-da;ZHENG Wei;WANG Li(School of Electrical Engineering,Yanshan University,Qinhuangdao Hebei 066000,China;School of Electrical and Control Engineering,North China University of Technology,Beijing 100144,China)

机构地区：[1]燕山大学电气工程学院,河北秦皇岛066000 [2]北方工业大学电气与控制工程学院,北京100144

出　　处：《控制理论与应用》2021年第1期23-32,共10页Control Theory & Applications

基　　金：河北省自然科学基金项目(F2016034096);北京长城学者培养计划项目(CIT&TCD20190304);北方工业大学科技创新工程“大型城市公共交通系统安全风险监测与智能防控关键技术与设备研发”项目(XM–0000014212181017272)资助。

摘　　要：本文引入一种基于无模型自适应控制算法的无人驾驶车辆稳态漂移控制方案.首先,对车辆漂移动态过程进行动力学分析,其次,确定控制系统的控制输入量和控制目标,然后基于无人驾驶车辆稳态漂移控制系统的动态线性化数据模型,设计无模型自适应稳态漂移控制算法、伪雅可比矩阵估计整定算法和伪雅可比矩阵重置算法,从而实现无人驾驶车辆的稳态漂移过程.该无模型自适应控制方法仅使用车辆运行时的输入输出数据,无须进行复杂建模,实现了良好的动态控制结果,具有的良好自适应性.最后,通过数值仿真验证了控制算法的有效性.In this paper,a steady-state drift control scheme based on model-free adaptive control algorithm is proposed for unmanned vehicles.First,the dynamic process of the vehicle drift is analyzed.Second,the control input and the control target of the control system are determined.Then,based on the dynamic linearized data model of the steady-state drift control system of the unmanned vehicle,a model-free adaptive steady-state drift control algorithm,a pseudo Jacobian matrix estimation tuning algorithm and a pseudo Jacobian matrix reset algorithm are designed.Thus,a steady-state drift process of the unmanned vehicle is realized.The control method based on model-free adaptive control designed in this paper uses only the input and the output data of the vehicle during operation,which avoids the complicated dynamic modeling process of drift dynamics,and achieves a good adaptiveness of the dynamic control.Finally,the effectiveness of the control algorithm is verified by numerical simulations.

关 键 词：数据驱动控制 无模型控制 无人驾驶车辆 漂移 

分 类 号：TP273.2[自动化与计算机技术—检测技术与自动化装置] U463.6[自动化与计算机技术—控制科学与工程]