【摘要】 针对智能交通系统中车辆纵横向运动控制问题进行研究,建立了车辆的纵横向耦合非线性动力学模型,根据该控制系统具有非线性、强耦合和参数非匹配不确定性的特点,基于反演变结构控制理论,设计了智能车辆纵横向运动的协调控制算法;利用李雅普诺夫稳定性分析方法,证明了该控制算法可保证跟踪误差一致有界收敛。考虑到变结构的抖振问题,引入饱和函数。仿真试验表明:该协调控制算法具有快速、准确跟踪,强鲁棒性和全局稳定的良好特性,同时能有效抑制控制系统抖振。更多还原

【Abstract】 The longitudinal and lateral motion control system of intelligent vehicles for intelligent transportation system is studied,and the nonlinear dynamic control model of vehicles is established.Aiming at the high nonlinearity,strong coupling and unmatched uncertainties of the open-loop control system,the coordinated longitudinal and lateral motion control algorithms of intelligent vehicles were proposed based on backstepping variable structure control theory.The stability of the closed-loop system was proved by Lyapunov method.The simulation results show that the proposed coordinated control algorithms have characteristics of quick and precise tracking,strong robustness,global stability,and reduce the control chattering simultaneously.更多还原