基于状态感知的UGV H∞事件触发路径跟踪控制  

State-sensitive Based Event-triggered H∞Control for Path Tracking of Unmanned Ground Vehicle

作　　者：孙洪涛 张鹏飞[1] 彭晨 丁飞[3] SUN Hongtao;ZHANG Pengfei;PENG Chen;DING Fei(College of Engineering,Qufu Normal University,Rizhao 276826,China;School of Mechatronic Engineering and Automation,Shanghai University,Shanghai 200444,China;State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body,Hunan University,Changsha 410082,China)

机构地区：[1]曲阜师范大学工学院,山东日照276826 [2]上海大学机电工程与自动化学院,上海200444 [3]湖南大学汽车车身先进设计制造国家重点实验室,湖南长沙410082

出　　处：《湖南大学学报（自然科学版）》2022年第10期34-42,共9页Journal of Hunan University:Natural Sciences

基　　金：国家自然科学基金资助项目(62103229,62173218,61833011);中国博士后科学基金资助项目(2021M692024);上海科委国际合作项目(21190780300);山东省自然科学基金项目(ZR2021QF026)。

摘　　要：针对通信受限下的无人驾驶车辆路径跟踪控制问题,提出了一种基于状态感知的H∞事件触发路径跟踪控制策略.首先,根据车辆的动力学行为建立了相应的路径跟踪控制模型;其次,基于对路径跟踪控制系统的状态实时感知,设计了一种新型的基于状态感知的事件触发通信策略(SS-ETC),可根据控制系统的状态对事件触发阈值进行动态自适应的调整;然后,在该动态事件触发通信策略下,结合时滞系统建模方法与Lyapunov稳定性理论,设计了基于状态感知的事件触发H∞控制器.本文所提出的基于状态感知的动态事件触发通信策略能够根据控制系统的量测状态进行通信阈值的动态调整,有效地实现了自主车辆通信与控制的自适应协同设计.最后,通过仿真实验验证了所提出的动态事件触发控制策略的有效性.This paper proposes a state-sensitive based event-triggered H∞control strategy to solve the problem of unmanned ground vehicle(UGV)path tracking control under communication restriction.Firstly,a corresponding path-tracking control model is established according to the dynamics of the connected vehicle.Secondly,a novel state-sensitive event-triggered communication(SS-ETC)strategy according to the state perception of path tracking in real time is proposed.Then,an event-triggered H∞controller is designed by combining the time delay system modeling method and Lyapunov stability theory.The proposed dynamic event-triggered communication strategy based on state perception can dynamically adjust the communication threshold according to the state measurements of the control system,and effectively realize the adaptive co-design of UGV communication and control.Finally,the effectiveness of the proposed dynamic event-triggered control strategy is verified by simulation experiments.

关 键 词：无人驾驶车辆 事件触发通信 路径跟踪 H∞控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]