摘要
通过适当的变换将无人驾驶车横向运动学模型简化成一种线性时变模型,且制定出相应的横向位置最优跟踪控制方案,采用该控制方案无论车体在正向和倒向开车的情况下,都得到较好的控制结果,且动态效果好、稳态精度高,并由仿真结果得到了证明.
The lateral control of kinematical module for unmanned vehicle, which is considered highly nonlinear and time-varying, was simplified to linear time-varying module, and the corresponding optimal tracking control strategy was proposed. This control scheme with good dynamic response and high precision accuracy stability makes the vehicle not only drive forward but backward, and the simulations based on it were presented to support the validity of this scheme.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
2008年第2期257-261,265,共6页
Journal of Shanghai Jiaotong University
基金
中国博士后科学基金资助项目(20060400645)
关键词
无人驾驶车
最优控制
位置跟踪
运动学模型
仿真
unmanned vehicle
optimal control
position tracking
kinematics model
simulation
