速度测量不确定性影响下的无人车路径跟踪预瞄控制  

Preview path following control for autonomous vehicles with inaccurate velocity measurement

作　　者：张腾飞 王恒 张守武[1,3] 李擎 ZHANG Teng-fei;WANG Heng;ZHANG Shou-wu;LI Qing(School of Automation and Electrical Engineering,University of Science and Technology Beijing,Beijing 100083,China;Key Laboratory of Knowledge Automation for Industrial Processes of Ministry of Education,University of Science and Technology Beijing,Beijing 100083,China;School of Information Science and Engineering,Beijing City University,Beijing 100083,China)

机构地区：[1]北京科技大学自动化学院,北京100083 [2]北京科技大学工业过程知识自动化教育部重点实验室,北京100083 [3]北京城市学院信息学部,北京100083

出　　处：《控制理论与应用》2023年第3期540-548,共9页Control Theory & Applications

基　　金：国家自然科学基金项目(62173029,62273033,U20A20225);北京科技大学中央高校基本科研业务费专项资金项目(FRF-BD-19-002A)资助。

摘　　要：预瞄距离是无人车路径跟踪预瞄控制系统设计中的一个关键参数,其选取往往依赖于车辆行驶速度.然而,车速的测量不可避免存在偏差,这必将影响系统的预瞄控制性能.本文针对这一问题,在充分考虑车速测量不确定性对预瞄距离选取影响的基础上,提出一种基于线性参数变化(LPV)系统的鲁棒H∞路径跟踪预瞄控制算法.首先,选取车速和预瞄距离为调度变量,将原系统转化为一种具有可变权重因子的LPV系统.然后,针对无人车系统状态的不完全可测性,设计一种基于观测器的鲁棒H∞控制器.最后,给出保证闭环系统鲁棒H∞性能的凸优化求解条件.仿真结果验证了本文提出控制算法的有效性.The preview distance is a key parameter for the path following control system of autonomous vehicles,which depends on the vehicle velocity to a great extent.However,there are deviations between the vehicle velocity and its measurements,and the measurement errors on vehicle velocity inevitably deteriorate the path following performance.In this paper,considering the effects of the inaccurate measurement of vehicle velocity on the preview distance,an LPVbased robust H1 control algorithm is proposed to achieve the path following of autonomous vehicles.First,the original nonlinear path following system is formulated as an LPV model with variable weight factors,where the vehicle velocity and the preview distance are chosen as scheduling variables.Then,an observer-based robust H1 path following controller is designed for the case that the system state cannot be measured directly.Finally,the convex conditions for the robust H1 stability of the closed-loop system is provided.Simulation results verify the effectiveness of the control algorithm proposed in this paper.

关 键 词：无人车 路径跟踪控制 LPV系统 预瞄距离 

分 类 号：TP273[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]