基于反馈线性化的无人驾驶车辆横向位置跟踪控制

Journal of Systems Engineering and Electronics ›› 2009, Vol. 31 ›› Issue (1): 165-169.

基于反馈线性化的无人驾驶车辆横向位置跟踪控制

刘子龙^1,2

1. 上海理工大学计算机与电气学院, 上海, 200093;
2. 上海交通大学机器人研究所, 上海, 200240

收稿日期:2007-09-24 修回日期:2007-12-07 出版日期:2009-01-20 发布日期:2010-01-03
作者简介:刘子龙(1972- ),男,讲师,博士,主要研究方向为神经网络控制,机器人控制.E-mail:liuzl0704@yahoo.com.cn
基金资助:
中国博士后科学基金(20060400645);上海理工大学博士启动基金资助课题

Lateral position tracking control of unpiloted vehicle based on feedback-linearization

LIU Zi-long^1,2

1. School of Computer and Electrical Engineering, Univ. of Shanghai for Science and Technology, Shanghai 200093, China;
2. Inst. of Robotics, Shanghai Jiaotong Univ., Shanghai 200240, China

Received:2007-09-24 Revised:2007-12-07 Online:2009-01-20 Published:2010-01-03

摘要/Abstract

摘要： 由于无人驾驶车辆横向运动学模型常被看作高非线性、时变的,所以这给控制方案的制定带来了较大的难度。提出了基于输入输出反馈线性化的横向位置跟踪控制方案。采用这种控制方案在车体正向和倒向开车的情况下,都得到较好的横向跟踪效果,动态特性好、稳态精度高。基于由Simulink和VRML语言建立起的三维动画仿真也说明了这一点。

中图分类号:

TP242

刘子龙. 基于反馈线性化的无人驾驶车辆横向位置跟踪控制[J]. Journal of Systems Engineering and Electronics, 2009, 31(1): 165-169.

LIU Zi-long. Lateral position tracking control of unpiloted vehicle based on feedback-linearization[J]. Journal of Systems Engineering and Electronics, 2009, 31(1): 165-169.

[1] 徐俊艳,张培仁.非完整轮式移动机器人轨迹跟踪控制研究[J].中国科学技术大学学报,2004,34(3):376-380.
[2] 李胜,马国梁,胡维礼.一类不确定非完整移动机器人的时变自适应镇定[J].机器人,2005,27(1):10-19.
[3] 李艳,高峰,林廷圻.一种3自由度移动机器人的跟踪新策略[J].系统仿真学报,2004,16(3):585-588.
[4] 晁红敏,胡跃明.动态滑模控制及其在移动机器人输出跟踪中的应用[J].控制与决策,2001,16(5):565-568.
[5] 邹小兵,蔡自兴.非完整移动机器人道路跟踪控制器设计及应用[J].控制与决策,2004,19(3):319-322.
[6] Pei Xinzhe,Liu Zhiyuan,Pei Run.Robust trajectory tracking controller design for mobile robot swith bounded input[J].ACTA Automatica Sinica,2003,129(16):876-882.
[7] Jihua Huang,Masayoshi Tomizuka.LTV controller design for vehicle lateral control under fault in rear sensors[J].IEEE/ASME Trans Mechatronics,2005,10(1):1-7.
[8] Choi Seibum B.The design of a look-down feedback adaptive controllet for the lateral control of from-wheel-steering autonomous highway vehicles[J].IEEE Trans.Veh.Technol.,2000,49(6),2257-2269.
[9] Robert E,Benton Jr,Dirk Smith.A static-output-feedback design procedure for robust emergency lateral control of a highway vehicle[J].IEEE Trans.Contr.Syst.Technol.,2005,13(4):618-623.
[10] O'Brien R T,Iglesias P A,Urban T J.Vehicle lateral control for automated highway systems[J].IEEE Trans.Contr.Syst.Technol.,1996,4(3):266-273.
[11] 向峥嵘,陈庆伟,吕朝霞,等.非线性时变系统的输出跟踪[J].系统工程与电子技术,1999,21(5):17-20.(Xiang Zheng rong,Chen Qingwei,Lü Zhaoxia,et al.Output tracking for time-varying nonlinear systems[J].Systems Engineering and Electronics,1999,21(5):17-20.)
[12] 杨军宏,尹自强,李圣怡.阀控非对称缸的非线性建模及其反馈线性化[J].机械工程学报,2006,42(5):203-207.
[13] Chen C C,Lin Y F.Application of feedback linearisation to the tracking and almost disturbance decoupling control of multi-input multi-output nonlinear system[-J].IEEE Trans.Control Theory Appl.,2006,153(3):331-341.