摘要
为抑制道路曲率干扰并提高无人车路径跟踪精度,提出一种基于观测器的无人车H_(∞)预瞄控制器设计方法.首先,将无人车非线性路径跟踪模型转换为线性变参数(linear parameter varying,LPV)系统;然后,建立关于路径曲率的预瞄模型,并将无人车路径跟踪模型与预瞄模型相结合构建增广系统;接着,考虑传感器测量噪声对无人车路径跟踪精度的影响,设计基于观测器的H_(∞)状态反馈控制器,并将控制器设计问题转化为满足一组线性矩阵不等式的优化问题.Simulink/CarSim联合仿真结果表明,所提出的基于观测器的无人车H_(∞)预瞄控制方法可以有效减小测量噪声对系统性能的影响,与已有最优控制方法相比,可以取得更好的路径跟踪精度.
In order to reject the effects of disturbances on the path tracking accuracy of autonomous guided vehicles(AGVs),an observer-based H_(∞) preview controller is proposed.Firstly,the path tracking error model of the AGV is converted into a linear variable parameter(LPV)model.Then,a preview model of the path curvature is established,and an augmented system is constructed by combining the path tracking model and the preview model.Considering the influence of sensor measurement noises on the path tracking accuracy,an observer-based H_(∞) state-feedback controller is designed,the design conditions of which are converted into solving a set of linear matrix inequalities(LMIs).Finally,the results of simulation utilizing Simulink/CarSim show that,the proposed H_(∞) preview controller receives better path tracking results compared with existing methods,where measurement noises are attenuated effectively.
作者
王恒
梁永裕
李擎
王莉
WANG Heng;LIANG Yong-yu;LI Qing;WANG Li(School of Automation and Electrical Engineering,University of Science and Technology Beijing,Beijing 100083,China;Key Laboratory of Knowledge Automation for Industrial Processes of Ministry of Education,University of Science and Technology Beijing,Beijing 100083,China;School of Shunde Graduate,University of Science and Technology Beijing,Foshan 528300,China)
出处
《控制与决策》
EI
CSCD
北大核心
2023年第6期1737-1744,共8页
Control and Decision
基金
国家自然科学基金项目(62173029)
科技创新2030-“新一代人工智能重大项目”(2020AAA0108703)
中央高校基本科研业务费专项资金项目(FRF-BD-19-002A)
汽车安全与节能国家重点实验室开放基金课题项目(KFY2214).
关键词
无人车
LPV系统
预瞄控制器
基于观测器的控制器设计
路径跟踪
H_(∞)性能指标
autonomous guided vehicle
linear variable parameter system
preview control
observer-based controller design
path tracking
H_(∞) performance index
