考虑未知上界干扰的四轮独立驱动车辆的路径跟踪控制  

Path Tracking Control for 4WID Vehicles Considering Unknown Upper Boundary Disturbance

作　　者：李晨晖 刘放[1] 黄文建 杨明发 崔云飞 LI Chen-hui;LIU Fang;HUANG Wen-jian;YANG Ming-fa;CUI Yun-fei(School of Mechanical Engineering,Southwest Jiaotong University,Chengdu 610036)

机构地区：[1]西南交通大学机械工程学院,四川成都610036

出　　处：《制造业自动化》2025年第3期43-51,共9页Manufacturing Automation

摘　　要：针对未知上界干扰下四轮独立驱动(4WID)车辆的路径跟踪控制问题,提出了一种适用于非匹配不确定系统的滑模控制方法。首先,考虑到系统内外干扰并非一定满足匹配条件,基于Backstepping方法和线性矩阵不等式(LMI)设计了一种对非匹配干扰鲁棒的线性滑模面;其次,针对有界但上界未知的干扰,基于半正定的Barrier函数设计了一种自适应改变滑模增益的滑模控制律,该方法无需任何有关干扰的先验知识。再次,建立了含不确定侧偏刚度和不确定道路曲率的车辆道路跟踪模型,并基于该模型设计了车辆横向运动控制器。最后,通过CarSim-Simulink联合仿真验证了所提控制器的鲁棒性和稳定性。仿真结果表明,所提的控制方法对不确定参数的摄动具有鲁棒性,并且能够有效消除抖振。This paper addresses the path tracking control problem of 4WID vehicles under uncertain upper bound disturbance and proposes a sliding mode control method suitable for mismatched uncertain systems.Firstly,considering that disturbances do not necessarily satisfy matching conditions,this paper designs a linear sliding mode surface that is robust to mismatched disturbances based on the Backstepping method and LMI.Secondly,for disturbances that are bounded but with unknown upper bounds,this paper designs a sliding mode control law that adaptively changes the gains of the SMC based on a positive semidefinite barrier function.This method does not require any prior knowledge about the disturbance.Thirdly,a vehicle road tracking model with uncertain sideslip stiffness and road curvature is established,and a lateral motion controller is designed based on this model.Finally,the robustness and stability of the proposed controller are verified by CarSim-Simulink joint simulation.The simulation results show that the proposed controller is robust to uncertain parameters and can effectively eliminate chattering.

关 键 词：自适应滑模控制 路径跟踪 非匹配不确定干扰 LMI 

分 类 号：U463.6[机械工程—车辆工程] TP273[交通运输工程—载运工具运用工程]