驾驶机器人纵向操纵的自适应模型预测控制  

Adaptive model predictive control for longitudinalmanipulation of driving robot

作　　者：曾小杰 陈刚[1] 王陶[1] 王良模[1] ZENG Xiaojie;CHEN Gang;WANG Tao;WANG Liangmo(School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094,China)

机构地区：[1]南京理工大学机械工程学院,南京210094

出　　处：《重庆理工大学学报（自然科学）》2022年第1期113-119,共7页Journal of Chongqing University of Technology：Natural Science

基　　金：国家自然科学基金项目(51675281);江苏省研究生科研与实践创新计划项目(KYCX20_0262)。

摘　　要：为减小道路阻力变化对驾驶机器人纵向操纵的影响,提出了驾驶机器人纵向操纵的自适应模型预测控制方法。建立了不同操纵模式驾驶机器人车辆耦合模型,基于耦合模型设计了模型预测控制器和模式切换控制器,并采用带遗忘因子的递推最小二乘算法设计道路滚阻系数估计器。通过仿真与试验得出,该控制方法能抵抗道路滚阻系数扰动带来的影响,纵向车速跟踪误差在±2 km/h,实现了精准驾驶机器人纵向操纵。In order to reduce the influence of road resistance changes on the longitudinal manipulation of the driving robot,this paper proposes an adaptive model predictive control method for the longitudinal manipulation of the driving robot.A coupling model of robot-vehicle driving with different maneuvering modes is established.Based on the coupling model,a model predictive controller and a mode switching controller are designed,and the road rolling resistance coefficient estimator is designed by using the recursive least squares algorithm with forgetting factor.It is verified by simulation and experiment that the control method can resist the influence of the disturbance of the road rolling resistance coefficient,the longitudinal speed tracking error is within±2 km/h,and the precise longitudinal maneuvering of the driving robot is realized.

关 键 词：驾驶机器人 自适应模型预测控制 纵向操纵 车速跟踪 

分 类 号：U461.1[机械工程—车辆工程]