基于自抗扰采样控制的车辆转向跟踪  

Vehicle Steering Tracking Based on Sampled-Data Active Disturbance Rejection Control

作　　者：刘亚辉 高子凡 朱淑倩[1] 王庭瑞 LIU Yahui;GAO Zifan;ZHU Shuqian;WANG Tingrui(School of Mathematics,Shandong University,Shandong Jinan 250100,China)

机构地区：[1]山东大学数学学院,山东济南250100

出　　处：《聊城大学学报（自然科学版）》2024年第4期14-22,共9页Journal of Liaocheng University:Natural Science Edition

基　　金：国家自然科学基金项目(62373220,62173209);山东省自然科学基金项目(ZR2023MF011)资助。

摘　　要：运用自抗扰采样控制策略研究四轮转向车辆的模型参考跟踪控制问题。设计一个采样数据驱动的扩展状态观测器来同时估计跟踪误差和侧风扰动,并基于估计跟踪误差和估计干扰构建自抗扰采样控制器。利用增广系统和输入延迟系统建模方法,并结合Lyapunov-Krasovskii泛函方法,得到采样周期依赖的H∞性能分析结果。进一步,运用锥补线性化技术提出优化控制设计算法,能够获得最小的H∞性能指标并实现控制器增益和观测器增益的协同设计。通过仿真结果验证,所提出的自抗扰采样控制方法通过前轮和后轮转向使得车辆的侧偏角和偏航角速度能够在数据采样环境下跟踪期望目标,而经典的基于干扰观测器的控制方法无法完成跟踪控制任务;所提控制方法相比于经典的比例控制降低95%的跟踪误差。The model reference tracking control problem of four-wheel-steering vehicle was investigated by using sampled-data active disturbance rejection control(ADRC).A sampled-data-driven extended state observer was designed to estimate both tracking error and crosswind disturbance,and a sampled-data ADRC was constructed using the estimated tracking error and estimated disturbance.Using the augmented system and input delay system modeling methods plus the Lyapunov-Krasovskii functional method,a sampled-period-dependent H∞performance analysis result was derived.Further,an optimal control design algorithm resorting to the cone complementarity linearization technology was provided to obtain the minimal H∞performance index and realize the co-design of controller gain and observer gain.Simulation results verified that the proposed sampled-data ADRC method can force the vehicle sideslip angle and yaw rate to track the desired targets through front and rear wheel steering in a sampled-data environment,while the classical control method based on disturbance observer can not complete the tracking control task;and the proposed control method can reduce the tracking error by 95%compared with the classical proportional control method.

关 键 词：四轮转向 自抗扰控制 采样控制 鲁棒控制 

分 类 号：TP271[自动化与计算机技术—检测技术与自动化装置]