考虑参数不确定的车辆路径跟踪鲁棒最优积分滑模控制  

Robust optimal integral sliding mode control for vehicle path tracking considering parameter uncertainties

作　　者：余梦成 赵又群[1] 林棻[1] 何鲲鹏 尤庆伸 YU Mengcheng;ZHAO Youqun;LIN Fen;HE Kunpeng;YOU Qingshen(College of Energy and Power,Nanjing University of Aeronautics and Astronautics,Nanjing 2100161,China;Chery New Energy Automobile Technology Co.,Ltd.,Wuhu 241002,China)

机构地区：[1]南京航空航天大学能源与动力学院,南京210016 [2]奇瑞新能源汽车股份有限公司,安徽芜湖241002

出　　处：《重庆理工大学学报(自然科学)》2025年第2期65-71,共7页Journal of Chongqing University of Technology:Natural Science

基　　金：芜湖市重点研发与成果转化项目(2023YF010);国家自然科学基金项目(52272397,11672127);中央高校基本科研业务费专项资金资助项目(NP2022408)。

摘　　要：为提高智能汽车轨迹跟踪精度,基于鲁棒最优理论,设计了一种考虑参数不确定性的路径跟踪控制器。利用不考虑不确定性的二自由度线性模型,设计基于线性二次型调节器(LQR)路径跟踪控制器,针对参数不确定性和外部扰动,将LQR最优控制和积分滑模控制相结合,设计了鲁棒最优控制策略。利用李亚普洛夫稳定性理论,对所提出的鲁棒最优控制器进行稳定性分析。最后通过Carsim和Matlab/Simulink进行双移线干湿路面工况仿真验证,结果表明,所设计的控制器相较于普通LQR控制器,控制精度有效提高。To address the low tracking accuracy and poor robustness in trajectory tracking of intelligent vehicles,we design a path tracking controller considering parameter uncertainty based on robust optimization theory.First,a path tracking controller based on linear quadratic regulator(LQR)is designed by using a two-degree-of-freedom linear model without considering uncertainty.Then,to remedy the parameter uncertainty and external disturbance,a robust optimal control strategy is designed by combining LQR optimal control and integral sliding mode control.It achieves the optimal control and has good robustness to uncertain parameters and external disturbances.The stability analysis of the proposed robust optimal controller control strategy is conducted by using Lyapunov stability theory.Finally,the Carsim and Matlab/Simulink are used to simulate the dry and wet road conditions of the double-shift line.Our results show the designed controller effectively improves the control accuracy compared with the ordinary LQR controller and has stronger robustness.

关 键 词：路径跟踪 鲁棒最优理论 积分滑模 LQR 参数不确定性 

分 类 号：U461.6[机械工程—车辆工程]