| 引用本文: | 李琳辉,郭景华,张明恒,连静.越野智能车转向及驱动协调控制[J].控制理论与应用,2013,30(1):89~94.[点击复制] |
| LI Lin-hui,GUO Jing-hua,ZHANG Ming-heng,LIAN Jing.Coordinated control of steering and driving in off-road intelligent vehicle[J].Control Theory and Technology,2013,30(1):89~94.[点击复制] |
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| 越野智能车转向及驱动协调控制 |
| Coordinated control of steering and driving in off-road intelligent vehicle |
| 摘要点击 2959 全文点击 2407 投稿时间：2011-11-13 修订日期：2012-08-16 |
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| DOI编号 10.7641/CTA.2013.11284 |
| 2013,30(1):89-94 |
| 中文关键词 智能车辆 导航 耦合控制系统 非匹配不确定性 反演变结构 |
| 英文关键词 intelligent vehicle navigation coupled control system unmatched uncertainty backstepping variable structure |
| 基金项目 国家自然科学基金资助项目(51107006, 61203171); 中国博士后科学基金资助项目(2012M510799); 中央高校基本科研业务费专项 资金资助项目(DUT12JS03). |
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| 中文摘要 |
| 本文以实现智能车在非结构化越野环境中的自主导航为目的, 对越野路径识别及轨迹跟踪控制方法开展研究. 首先基于视觉传感器和激光传感器实现可行驶路径的分割与提取, 并建立了包含车辆转向及驱动的耦合控制系统模型; 然后, 针对控制系统模型具有非匹配不确定性的特点, 采用反演变结构控制算法设计了转向及驱动协调控制器, 并引入饱和函数以解决变结构的抖振问题; 最后, 通过仿真和越野导航试验验证了所提出控制算法的有效性和鲁棒性. |
| 英文摘要 |
| Off-road path recognition and trajectory-following control are studied in the paper to realize the intelligent vehicle autonomous navigation in unstructured off-road environment. Firstly, the segmentation and extraction of traversable path are achieved by vision sensor and laser sensor, and the coupled control system model for vehicle steering and driving is established. To deal with the unmatched uncertainties of the control system model, a steering and driving coordinated controller for steering and driving is proposed via backstepping variable structure control method, and boundary layer approach is introduced to suppress the chattering phenomenon caused by variable structure. Finally, Simulations and offroad experiments are given to demonstrate the effectiveness and robustness of the proposed control method. |
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