基于事件触发的网络化无人车自适应路径跟踪控制  

Event-triggered finite-time adaptive path following control for connected-automated vehicle

作　　者：杨宇航 王恒 周欣[1,2] 李擎 YANG Yu-hang;WANG Heng;ZHOU Xin;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)

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

出　　处：《控制与决策》2024年第9期3069-3078,共10页Control and Decision

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

摘　　要：针对网络化无人车存在网络带宽、计算资源受限等问题,提出一种基于事件触发的自适应路径跟踪控制策略.考虑轮胎侧滑影响,建立车辆非线性路径跟踪模型,设计基于有限时间稳定的自适应反步控制器;通过设计自适应律估计侧滑角,抑制轮胎侧滑效应对路径跟踪控制系统的影响,保证系统在有限时间内达到稳定且收敛至期望路径.所提出的事件触发机制可以在保证系统路径跟踪性能的前提下有效减少控制指令的传输次数.Simulink/CarSim联合仿真实验结果表明,在轮胎侧滑干扰的影响下,所设计的方法能够保证系统具有期望的路径跟踪性能,同时降低网络带宽占用率.An event-triggered adaptive path following control strategy is proposed in order to address the problem of connected-automated vehicles with the issues of limited network bandwidth and computing resources.A nonlinear path following model,taking into account the effect of tire sideslip,is established.Then,an adaptive backstepping controller based on finite-time is designed.The influence of tire side slip is suppressed by designing an adaptive law,ensuring that the system achieves stability and converges to the desired path within a limited time.Furthermore,the event-triggered mechanism proposed can reduce the number of control commands transmission effectively while guaranteeing the accuracy of path following.Finally,the results of simulation show that the proposed method can ensure the system with desired path following performance under the influence of tire side slip disturbance,while reducing the network bandwidth occupancy rate.

关 键 词：网络化无人车 路径跟踪 事件触发 自适应反步法 轮胎侧滑 有限时间 

分 类 号：TP272[自动化与计算机技术—检测技术与自动化装置]