一种车辆系统线性化及优化控制算法研究

A Linearization and Optimal Control Algorithm Study for Vehicle System

文章就两种线性化算法对系统参数不确定性的抑制作用进行了枚举法的数值验证。同时,对两种算法的系统响应及噪声抑制作用也进行了比较。通过对比得出自适应逆动力学控制算法有较好的系统参数不确定性抑制作用。此外,还考虑了执行器饱和问题,提出了一种可行的算法应用于自适应逆动力学控制系统中。

In this paper, an improved method, adaptive inverse dynamics, is used to compensate the drawbacks of the inverse dynamics control. At the same time, the system response and noise rejection are compared with inverse dynamics. For the parameter uncertainties rejection, it is tested using numerical validation of enumeration method. After all the discussion, it is concluded that adaptive inverse dynamics has better performance at dealing with parameter uncertainties. Furthermore, the actuator saturation is considered in this paper, and a feasible solution is proposed in adaptive inverse dynamics control as well.