基于李雅普诺夫稳定性理论的路径跟踪控制器设计

Design of Path Tracking Controller Based on Lyapunov Stability Theory

为了提高智能车在路径跟踪过程中的系统稳定性,基于李雅普诺夫(Lyapunov)稳定性理论设计了模型参考自适应路径跟踪控制器,并引入系统反馈补偿矩阵,化为线性二次最优控制(LQR)问题进行求解。通过搭建CarSim/Simulink联合仿真平台将控制器与传统模型预测控制器进行对比,设定速度与路面附着系数均不同的仿真工况,对比两种控制器的跟踪效果,仿真结果表明,该控制器具有良好的路径跟踪能力,并具有一定的鲁棒性。

In order to improve the stability of the intelligent vehicle system in the process of path tracking,this paper designs a model reference adaptive path tracking controller based on the theory of Lyapunov stability control.By adding feedback matrix to make the system stable,Next,Solving the feedback Matrix by the method of LQR.Finally,co-simulation with different vehicle speeds and different road adhesion coefficient is carried out under the conditions of double lane change on the CarSim and MATLAB/Simulink platform.The results show that the controller can realize the path tracking accurately and has certain robustness,which lays a theoretical foundation for the design of vehicle stability controller.