引用本文:许德智,邓竞,颜文旭,纪志成.智能车辆自动超车系统的数据驱动路径跟踪约束控制[J].控制理论与应用,2018,35(3):283~290.[点击复制]
XU De-zhi,DENG Jing,YAN Wen-xu,JI Zhi-cheng.Novel data-driven path tracking constrained control for intelligent vehicle autonomous overtaking system[J].Control Theory and Technology,2018,35(3):283~290.[点击复制]
智能车辆自动超车系统的数据驱动路径跟踪约束控制
Novel data-driven path tracking constrained control for intelligent vehicle autonomous overtaking system
摘要点击 2464  全文点击 1509  投稿时间：2016-07-25  修订日期：2017-09-28
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DOI编号  10.7641/CTA.2017.60547
  2018,35(3):283-290
中文关键词  智能车辆  数据驱动约束控制  超车路径  动态抗饱和补偿
英文关键词  intelligent vehicle  data-driven constrained control  overtaking path  dynamic anti-windup
基金项目  国家自然科学基金项目(61503156), 中央高校科研计划项目(JUSRP11562, JUSRP51406A), 江苏省普通高校研究生实践创新计划项目(SJLX15 05 70), 江苏省科技研究项目(BY2015019–24)资助.
作者单位E-mail
许德智* 江南大学物联网工程学院 xudezhi@jiangnan.edu.cn 
邓竞 江南大学物联网工程学院  
颜文旭 江南大学物联网工程学院  
纪志成 江南大学物联网工程学院  
中文摘要
      针对智能车辆自动超车系统, 提出了一种新的数据驱动超车路径跟踪约束控制方案, 系统控制方案的设计 仅利用自动超车系统的输入/输出数据, 并不包括车辆的模型信息, 所以针对不同的车型均能够实现自动超车的数 据驱动路径跟踪约束控制. 在控制器的设计过程中, 针对控制输入受变化范围和变化速率的限制, 提出了一种新的 动态抗饱和补偿器来解决饱和问题. 最后给出了数据驱动约束控制与原型无模型自适应控制(model free adaptive control, MFAC)以及PID控制的仿真结果对比, 结果表明, 本文所提控制方案能够很好的完成自动超车过程的路径跟 踪, 且相比原型MFAC以及PID控制方案, 本文方案具有更小的跟踪误差和更快的响应速度.
英文摘要
      In this paper, a novel data-driven path tracking constrained control scheme is proposed for intelligent vehicle autonomous overtaking system. The design of the proposed control scheme only depends on the input data and output data of the controlled system, and it does not involve any model information of the car. Therefore, the proposed scheme based autonomous overtaking system is applicable to different kinds of cars. In the design procedure of the controller, a novel dynamic anti-windup compensator is used to deal with the change magnitude and rate saturations of autonomous overtaking control input. Finally, a simulation comparison among the proposed scheme, model free adaptive control (MFAC) and proportion integration differentiation (PID) control algorithm is given. It is shown that the proposed scheme can perfectly achieve the path tracking in the autonomous overtaking process. And the proposed scheme has smaller tracking errors and more rapid responses than model free adaptive control and PID control scheme.