基于鲁棒反馈控制理论的路径跟踪控制器设计  

Design of Path Tracking Controller Based on Robust Feedback Control Theory

作　　者：沈亚伟 赵又群[1] Shen Yawei;Zhao Youqun(Nanjing University of Aeronautics and Astronautics,Nanjing 210016)

机构地区：[1]南京航空航天大学,南京210016

出　　处：《汽车技术》2023年第7期47-53,共7页Automobile Technology

基　　金：高机动防暴车辆技术国家工程实验室开放基金项目(B20210017);国家自然科学基金项目(11672127);中央高校基本科研业务费专项资金资助项目(NP2022408)。

摘　　要：为了提高智能车辆路径跟踪的精确性和鲁棒性,基于李雅普诺夫稳定性(Lyapunov Stability)理论设计了鲁棒反馈路径跟踪控制器,运用舒尔(Schur)补引理并求解线性矩阵不等式(LMI)得到控制系统的反馈矩阵。通过搭建CarSim/Simulink联合仿真平台将鲁棒反馈控制器与线性二次型调节器(LQR)进行对比分析,以不同的车速分别在不同附着系数的路面上进行仿真,验证所设计控制器的性能。仿真结果表明:在不同路面和车速工况下,相较于LQR控制器,基于李雅普诺夫稳定性理论的鲁棒反馈控制器具有更高的控制精度,同时具有更强的鲁棒性。In order to improve the accuracy and robustness of intelligent vehicle path tracking,a robust feedback path tracking controller was designed based on Lyapunov Stability Theory.By using Schur complement lemma and solving Linear Matrix Inequality(LMI),the feedback matrix of the control system was obtained.By building a CarSim/Simulink joint simulation platform,the robust feedback controller was compared with the Linear Quadratic Regulator(LQR).The performance of the designed controller was verified by simulation tests on the roads with different adhesion coefficients at different speeds.The simulation results show that,compared with LQR controller,the robust feedback controller based on Lyapunov stability theory not only has higher control accuracy,but also has stronger robustness when the vehicle is running on different roads at different speeds.

关 键 词：智能车辆 路径跟踪 线性矩阵不等式 鲁棒控制 李雅普诺夫稳定性 

分 类 号：U461[机械工程—车辆工程]