基于模糊终端滑模控制器的路径跟踪横向控制策略  

based on fuzzy terminal sliding mode controller

作　　者：葛程 李伟东[1] 黄振柱 何精武 马草原 GE Cheng;LI Weidong;HUANG Zhenzhu;HE Jingwu;MA Caoyuan(School of Automotive Engineering,Dalian University of Technology,Dalian 116024,China)

机构地区：[1]大连理工大学汽车工程系,辽宁大连116024

出　　处：《大连理工大学学报》2024年第4期376-383,共8页Journal of Dalian University of Technology

基　　金：辽宁省科技创新重大专项资助项目(ZX20220560)。

摘　　要：为了解决智能车辆采用传统滑模控制器(SMC)时跟踪精度较差和稳定性欠佳的问题,提出了一种基于模糊终端滑模控制器(FTSMC)的路径跟踪横向控制策略.首先,建立了车辆二自由度动力学模型和路径跟踪误差模型,并采用改进的指数趋近律设计了终端滑模控制器(TSMC).其次,为解决SMC抖振问题,通过模糊逻辑在线优化指数趋近律中的边界层,并基于Lyapunov稳定性理论证明了控制系统的稳定性.最后,建立了Matlab/Simulink和Carsim联合仿真模型,验证了所提控制策略的有效性.结果表明,在低、高车速两种工况下,FTSMC的横向位移偏差最大值分别降低了14.4%和23.3%,横摆角偏差最大值分别降低了11.0%和18.9%,抖振现象得到了显著的抑制.A path tracking lateral control strategy for intelligent vehicles based on fuzzy terminal sliding mode controller(FTSMC)is proposed,which is aimed at overcoming the challenges of poor tracking accuracy and insufficient stability encountered when using traditional sliding mode controller(SMC).Firstly,the two degree of freedom dynamic model and path tracking error model are established,and a terminal sliding mode controller(TSMC)is designed using an improved exponential reaching law.Secondly,in order to solve the chattering problem in SMC,the boundary layer in the exponential reaching law is optimized on-line using fuzzy logic,and the stability of the control system is proven based on Lyapunov stability theory.Finally,a co-simulation model of Matlab/Simulink and Carsim is established to validate the effectiveness of the proposed control strategy.The result shows that,under two working conditions of low and high vehicle speeds,the maximum lateral displacement deviations of the FTSMC are reduced by 14.4%and 23.3%respectively,and the maximum deviations of yaw angle are reduced by 11.0%and 18.9%respectively.The chattering phenomenon is significantly suppressed.

关 键 词：智能车辆 路径跟踪 模糊终端滑模控制器 指数趋近律 LYAPUNOV稳定性理论 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]