车辆道路跟踪鲁棒控制的研究

Research on Robust Control Strategy of Vehicle Path Tracking

针对车辆自主道路跟踪中存在的多种不确定扰动的影响,采用μ鲁棒控制方法,根据车辆运行品质的实际要求,构造了一种车辆道路跟踪的控制框架,设计了鲁棒控制器。频域分析和时域仿真表明:设计的μ控制系统不仅具有良好的标称性能和鲁棒稳定性,并且取得了满意的鲁棒性能,满足车辆自主道路跟踪的要求。

Considering the effect of many uncertain perturbations, μ robust control strategy is adopted for vehicle＇s autonomous path tracking. According to practical requirements of vehicle operation, a control framework of vehicle＇s path tracking is constructed and the robust controllers are designed. The results of frequency domain analysis and time domain simulation show that the closed-loop system under μ control achieves good nominal performance, robust stability and performances, meeting the requirements of vehicle＇s autonomous path tracking.