多轴转向车辆模糊H_∞保性能控制

T-S Fuzzy H_∞ Guaranteed Cost Control of Multi-steering Vehicle

为提高多轴转向车辆的控制性能和操纵稳定性,考虑多轴转向车辆的轮胎非线性、不确定性和外界干扰,提出一种基于区域极点约束和T-S(Takagi-Sugeno)模糊模型的H∞模糊保性能控制方法。分析基于轮胎立方非线性动力学的多轴转向车辆三自由度非线性模型,建立具有不确定性和外界干扰的多轴转向车辆模糊T-S模型。针对固定极点配置适用范围问题,对各个局部线性子系统设计区域极点约束的保性能控制器,并共用T-S模糊模型的前件和采用并行分配补偿法(Parallel distributed compensation,PDC)计算出总控制器。应用Matlab软件的线性矩阵不等式(Linear matrix inequality,LMI)和模糊逻辑控制(Fuzzy logic control,FLC)工具箱对某五轴转向车辆控制器进行求解,并对原非线性闭环系统进行控制仿真。结果表明控制算法有效,具有一定的鲁棒性,并有利于改善多轴转向动态性能和提高操纵稳定性。

To improve the performances of control and handling stability of multi-steering vehicle,considering tire nonlinearity,uncertainties and external disturbances,a method of H∞ fuzzy guaranteed cost control for multi-steering vehicle is presented based on region pole constraints and fuzzy Takagi-Sugeno （T-S） model.Based on tire cubic nonlinearity dynamics,the nonlinear model of multi-steering vehicle with three degrees of freedom is analyzed,and the fuzzy T-S model of multi-steering vehicle with uncertainties and external disturbances is established.According to the problem of application scope of fixed pole assignment,guaranteed cost controllers of all local linear subsystems with region pole constraints are designed,and the whole controller is derived by using antecedent of the T-S fuzzy model and parallel distributed compensation （PDC） method.Using the linear matrix inequality （LMI） and fuzzy logic control （FLC） toolboxes of Matlab software,the controllers of a certain five-axle-steering vehicle are solved and control of original nonlinear closed-loop system is simulated.The simulation results show that the presented control method is effective and robust,and is beneficial to enhance dynamic performances and handling stability of multi-steering vehicle.