基于车速依赖静态输出反馈的自主汽车路径跟踪控制  

Path-following control of autonomous vehicles based on velocity-dependent static output-feedback strategy

作　　者：姜正伟 李鹏旭 张斌[1] 李攀硕 JIANG Zhengwei;LI Pengxu;ZHANG Bin;LI Panshuo(School of Automation,Guangdong University of Technology,Guangzhou 510006;School of Mechanical Engineering and Automation,Northeastern University,Shenyang 110819)

机构地区：[1]广东工业大学自动化学院,广州510006 [2]东北大学机械工程与自动化学院,沈阳110819

出　　处：《南京信息工程大学学报（自然科学版）》2021年第1期41-50,共10页Journal of Nanjing University of Information Science & Technology（Natural Science Edition）

基　　金：国家自然科学基金(62073083);广东省自然科学基金(2019B151502026);广东省特支计划(2018B0330312006)。

摘　　要：本文设计了一种新的基于静态输出反馈的增益调度控制器,可使自主汽车在车速时变且状态不全可测的情况下,完成路径跟踪并保证车身的横向稳定性.为了描述时变纵向速度对汽车动力学特性的影响,首先建立了一个包含跟踪特性及横向动力学特性的速度依赖多胞体汽车模型,同时,为减少控制器设计保守性,考虑时变参数之间非独立变化关系,采用了梯形多胞体进行描述;然后通过矩阵变换,获得系统性能描述,并基于增益调度控制策略及两步法,设计了满足H∞性能的速度依赖静态输出反馈控制器,并给出其中参数求取方法,所提方法在实际应用中简单易行;最后在两种不同的典型道路上进行试验验证,仿真结果表明,在车速时变的情况下,所提控制方法可以有效控制自主汽车完成路径跟踪任务.A new static output-feedback gain-scheduled controller is proposed for the autonomous vehicle to track the desired path and ensure the lateral stability under varying velocity and unmeasurable state.With control the steering angle of front wheel,the lateral offset and heading offset are minimized,which guarantees the path-following performance.In order to describe the velocity-related varying parameters,a polytopic linear parameter-varying vehicle model is established which takes the time-varying velocity into account,and a shrunk polytope is constructed to reduce the conservativeness of the design.The system H∞performance is analyzed with matrix transformation.Gain-scheduled control strategy and two-step method are adopted to design the H∞static output-feedback controller.Compared with previous iterative algorithms,the proposed method is easy to implement,and more desirable for application.Simulations are carried out on two typical road scenarios,and the results verify the effectiveness of the proposed method in path-following control of autonomous vehicles.

关 键 词：自主汽车 路径跟踪控制 静态输出反馈控制 增益调度控制 

分 类 号：U463[机械工程—车辆工程] TP273[交通运输工程—载运工具运用工程]