摘要
针对低速行驶工况下的车辆Stop and Go(起-停)巡航控制系统,本文推导其纵向行驶的非线性动力学方程.在此基础上采用精确线性化变换将非线性系统转化为线性可控正则型,并对此正则型设计一种跟踪控制器,实现了车辆低速甚至起-停工况的加速度精确跟踪.
A nonlinear equation of vehicle longitudinal dynamics is deduced for the low-speed vehicular stop-and-go cruise control systems. Based on the equation, an exact linearization transformation is utilized to convert the nonlinear system in to a linear controllable normal form, and a tracking control algorithm is investigated for this normal form to keep more precise acceleration tracking on the low-speed or stop-and-go conditions.
出处
《控制理论与应用》
EI
CAS
CSCD
北大核心
2005年第5期814-819,共6页
Control Theory & Applications
基金
清华大学_五十铃汽车公司国际合作项目
关键词
非线性系统
精确线性化
跟踪控制
nonlinear systems
exact linearization
tracking control
