基于门限偶极子模型的四轮车变速度轨迹跟踪控制

Tracking Control for Four-wheel Vehicles with Variable Speed Based on Gated Dipole Model

针对利用李亚普诺夫函数控制律设计的轨迹跟踪控制器在跟踪初始误差较大和离散轨迹时,存在速度跳变问题和拐点处误差偏大的问题,设计了一种基于门限偶极子模型和趋向模型的变速度轨迹跟踪控制器。以四轮车的运动学模型为研究对象,在李亚普诺夫函数控制律的基础上,引入门限偶极子模型解决了初始误差较大速度跳变问题,同时引入纵向控制中的趋向模型,解决了不连续轨迹拐点处误差偏大的问题,使得跟踪轨迹更为光滑,进一步提高了跟踪精度。通过仿真结果对比分析,验证了改进控制器的有效性。

A novel tracking control law is designed for four-wheel vehicles which integrates the gated dipole model and Trend Model in order to solve the jump problem which caused by large initial error and discrete paths of discontinues points in this paper. On the basis of Lyapunov Function ,it joins the gated dipole model to solve the speed jump caused by large initial error . And then,it introduces the trend model of longitudial control to the controller Which improves tracking precision and solves the problem that caused by discontinues paths.It shows that the controller is more effective according to comparsion with the simulation results.