用于道路保持的自适应反演双层滑模控制  

Adaptive Backstepping Two-layer Sliding Mode Control for Lane Keeping

作　　者：李晨晖 刘放[1] 崔云飞 许沛森 黄文建 Li Chenhui;Liu Fang;Cui Yunfei

机构地区：[1]西南交通大学机械工程学院,四川省成都市610000

出　　处：《工程机械》2024年第9期48-53,I0017,共7页Construction Machinery and Equipment

摘　　要：由于非完整运动约束的存在,车辆系统成为典型的欠驱动系统,这给车辆系统的控制带来极大的困难。针对车辆系统的道路保持控制问题,基于Olfati-Saber解耦算法解耦的车辆跟踪误差模型,对双层滑模控制方法进行改进,提出一种反演设计的自适应双层滑模控制律,并通过CarSim-Simulink联合仿真验证该控制方法的有效性。仿真结果表明,该方法相较于原方法具有更优的跟踪性能,而且更具保守性,在保留原方法对车辆动力学参数摄动的鲁棒性的同时,有效地抑制了原方法的颤振现象。Due to the existence of nonholonomic kinematic constraints,the vehicle system becomes a typical under actuated system,which brings great challenges to the control of the vehicle system.For the lane keeping control problem of the vehicle system,based on the vehicle tracking error model decoupled by the Olfati-Saber decoupling algorithm,the two-layer sliding mode control method is improved,an adaptive two-layer sliding mode control law with backstepping design is proposed,and the effectiveness of the control method is verified by CarSim-Simulink joint simulation.The simulation results show that this method has better tracking performance and is more conservative compared with the original method,which effectively suppresses the flutter phenomenon of the original method while retaining the robustness of the original method to vehicle dynamic parameter perturbations.

关 键 词：车辆道路保持 二阶欠驱动系统 解耦算法 变结构控制 自适应控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] U463.6[自动化与计算机技术—控制科学与工程]