汽车转向/制动不确定系统的一致性协同控制

Consensus cooperative control of the vehicle steering / braking uncertain system

考虑到不确定参数和耦合干扰会使系统性能恶化,提出一个一致性协同控制系统研究汽车转向系统和防抱死制动系统的协同控制问题。该控制结构由制动鲁棒自适应控制器和转向一致性鲁棒自适应控制器组成。先设计了制动鲁棒自适应控制器;然后针对转向系统和制动系统之间的补偿控制律难以确定的困难,定义一致性误差和一致性误差模型;设计转向角和横摆力矩的一致性鲁棒自适应控制器;最后设计制动力分配策略。仿真结果证明提出的一致性协同控制系统是正确可行的,它改善了汽车制动稳定性能和转向性能。

The uncertain parameters and coupling disturbances deteriorate the performance of the systems, so a new consensus cooperative control system is proposed for the cooperative control of the vehicle＇s steering and antilock braking systems. The control architecture is composed with the steering controller and the braking controller. The braking robust adaptive controller of the vehicle is designed. To reduce the difficulty in determining the compensation control law between the steering system and the braking system, a new consensus error is defined and a new consensus error model of the vehicles is developed. Then the consensus robust adaptive controllers of the steering angle and the yaw moment are designed. The brake force distribution policy is presented. The result of simulation proves that the consensus cooperative control system is correct and feasible. It improves the braking stability and steering performance.