五轴转向车辆输出反馈鲁棒稳定控制系统设计

The Control System Design of Output Feedback Robust Stability in Five-Axis Steering Vehicle

以五轴车辆为例,基于具有参数不确定系统的鲁棒稳定性,将建立的五轴车辆二自由度汽车模型作为样车模型,针对其不确定性确定控制器参数,并设计了输出反馈控制器,保证闭环系统渐近稳定。利用Simulink对系统进行了仿真,证明了该控制器可达到较好的控制效果,且具有较强的稳定性和鲁棒性。

Based on the robust stability of feedback systems with uncertain parameter,with the five-axis vehicles as an example,the two degree of freedom model of a five-axis vehicle was taken as the prototype model,the controller parameters were determined according to its uncertainty.Besides,the output feedback controller was designed,which ensured the asymptotic stability of the closed-loop system.Next,the system was simulated in Simulink.The simulation proves that the controller not only can achieve a better control effect,but also have strong robustness and stability.